TY  - JOUR
T1  - Decentralized Control of a Group of Robots Using Fuzzy Logic
AU - Belogalzov, Denis AU - Medvedev, Mikhail AU - Soloviev, Victor AU - Finaev, Valeriy AU - Shapovalov, Igor 
JO  - Journal of Engineering and Applied Sciences
VL  - 12
IS  - 9
SP  - 2492
EP  - 2498
PY  - 2017
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2017.2492.2498
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2017.2492.2498
KW  - Robot
KW  -group control
KW  -planning
KW  -formation
KW  -path
KW  -fuzzy logic
AB  - The purpose of this research is to develop and research a method to organize a formation of robots
and a method to plan motion paths for a group of robots. The structure of a group control system for
autonomous mobile robots is presented. We propose the solution for the problem of creation of a group
formation with a scalable flexible structure. There is only minimal needed a-priori information that has the form
of certain areas (attachment sites) around each robot that are appropriate for positioning of other robots. Setting
the location of attachment sites around the robots makes it possible to organize various formation geometries.
A context-depending strategy of behavior and fuzzy logic were used to implement the method of planning the
behavior of individual robots in the group.
ER  -