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A fuzzy logic‐based formation controller for wheeled mobile robots

Mohammad Hadi Amoozgar (Concordia University, Montreal, Canada)
Khalil Alipour (K. N. Toosi University of Technology, Tehran, Iran)
Seyed Hossein Sadati (K. N. Toosi University of Technology, Tehran, Iran)

Industrial Robot

ISSN: 0143-991x

Article publication date: 3 May 2011




This paper seeks to present a novel approach for formation control of non‐holonomic wheeled mobile robots (WMRs). The use of a general geometrical structure has led the considered robotic team form any desired configuration. Although various methodologies have been suggested for solving such formation control problem in the literature, the proposed kinematical method of the present investigation has several advantages in terms of its robustness, tracking performance, and superior energy consumption due to the fuzzy logic scheme developed.


In an attempt to make the follower robot to assume the proper orientation, a new concept is presented which defines an appropriate heading angle. This concept is based on the natural human behavior as corresponds to situations of tracking a certain trajectory. The proposed heading angle planner is based on a two‐stage fuzzy logic system, providing appropriate heading angles for the mobile robot at each instant. In order to adjust the linear/angular velocity of the robots then, two further fuzzy controllers are devised.


The results obtained from the computer simulation studies reveal the merits as well as effectiveness of the proposed method for formation control of a group of WMRs in the presence of usual control input constraints, noisy sensor data, and external disturbances.


A novel method based on a fuzzy leader‐follower method is presented for the formation control of a group of robots.



Hadi Amoozgar, M., Alipour, K. and Hossein Sadati, S. (2011), "A fuzzy logic‐based formation controller for wheeled mobile robots", Industrial Robot, Vol. 38 No. 3, pp. 269-281.



Emerald Group Publishing Limited

Copyright © 2011, Emerald Group Publishing Limited

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