Self-Organized Navigation in Multi-Robot System Based on the Behavioural Fuzzy Controller

Abstract

Controlling a highly dynamic multi-robot system (DMRS) is a challenge scientific and technological in constant expansion. Our goal in this article is to control the DMRS and used the local interactions between robots to produce a form of advanced collective intelligence. For this, we have developed a reactive control architecture based on fuzzy behaviours using the concept of fuzzy logic. This architecture allows mobile robots to move in an unknown environment and, in the same time, to resolve the navigation conflicts. The simulation results obtained on the pioneer P3-DX robot clearly show the effectiveness of the proposed architecture.