Navigation Techniques for Control of Multiple Mobile Robots

Abstract

The investigation reported in this thesis attempt to develop efficient techniques for the control of multiple mobile robots in an unknown environment. Mobile robots are key components in industrial automation, service provision, and unmanned space exploration. This thesis addresses eight different techniques for the navigation of multiple mobile robots. These are fuzzy logic, neural network, neuro-fuzzy, rule-base, rule-based-neuro-fuzzy, potential field, potential-field-neuro-fuzzy, and simulated-annealing- potential-field- neuro-fuzzy techniques. The main components of this thesis comprises of eight chapters. Following the literature survey in Chapter-2, Chapter-3 describes how to calculate the heading angle for the mobile robots in terms of left wheel velocity and right wheel velocity of the robot. In Chapter-4 a fuzzy logic technique has been analysed. The fuzzy logic technique uses different membership functions for navigation of the multiple mobile robots, which can perform obs...