A Fuzzy Approach for a Hybrid Multi-Mobile Robot Control Architecture to Maintain a Specific Formation During Navigation

Seddjar, Abderrahmane; Nasr-Eddine, Berrached

doi:10.15866/ireaco.v8i1.5098

Cited by 2 publications

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“…The cooperative Multi Robot Control Systems (MRCS) has grown considerably in the last decade, due to the extensive need to such technology in different fields mainly: biomedical science, rescueing, displacement of heavy items, surveillance for example catching invaders under surveillance areas [1], sensor networks and cooperative transport. The idea is that autonomous, collaborative robots can achieve better results then each robot separately [2].Cooperation means that robots must communicate to exchange information and coordinate their actions in order to accomplish a common task [3,4].…”

Section: Introductionmentioning

confidence: 99%

Efficient and secure real-time mobile robots cooperation using visual servoing

Boudra¹,

Berrached²,

Dahane³

2020

IJECE

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This paper deals with the challenging problem of navigation in formation of mobiles robots fleet. For that purpose, a secure approach is used based on visual servoing to control velocities (linear and angular) of the multiple robots. To construct our system, we develop the interaction matrix which combines the moments in the image with robots velocities and we estimate the depth between each robot and the targeted object. This is done without any communication between the robots which eliminate the problem of the influence of each robot errors on the whole. For a successful visual servoing, we propose a powerful mechanism to execute safely the robots navigation, exploiting a robot accident reporting system using raspberry Pi3. In addition, in case of problem, a robot accident detection reporting system testbed is used to send an accident notification, in the form of a specifical message. Experimental results are presented using nonholonomic mobiles robots with on-board real time cameras, to show the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Efficient and secure real-time mobile robots cooperation using visual servoing

Boudra¹,

Berrached²,

Dahane³

2020

IJECE

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“…Therefore, numerous algorithms based on intelligent techniques such as FL in [20][21][22][23] and the adaptive neural-fuzzy in [24][25][26] have been modified and developed. FL control techniques are appropriate for non-linear control as demonstrated in [27][28][29]. Unlike traditional controllers such as P&O and INC, FL Controllers (FLCs) are able to use experimental methods or professional knowledge to adjust the output control system even without understanding the mathematical model of the systems being controlled.…”

Section: Introductionmentioning

confidence: 99%

Archives of Electrical Engineering

Seddjar,

Kerrouche,

Wang

2020

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One of the most critical systems of any satellite is the Electrical Power System (EPS) and without any available energy, the satellite would simply stop to function. Therefore, the presented research within this paper investigates the areas relating to the satellite EPS with the main focus towards the CubeSat platform. In this paper, an appropriate EPS architecture with the suitable control policy for CubeSat missions is proposed. The suggested control strategy combines two methods, the Maximum Power Point Tracking (MPPT) and the Battery Charge Regulation (BCR), in one power converter circuit, in order to extract the maximum power of the Photovoltaic (PV) system and regulate the battery voltage from overcharging. This proposed combined control technique is using a Fuzzy Logic Control (FLC) strategy serving two main purposes, the MPPT and BCR. Without an additional battery charger circuit and without switching technique between the two controllers, there are no switching losses and the efficiency of the charging characteristic can be increased by selecting this proposed combined FLC. By testing a space-based PV model with the proposed EPS architecture, some simulation results are compared to demonstrate the superiority of the proposed control strategy over the conventional strategies such as Perturb and Observe (P&O) and FLC with a Proportional Integral Derivative (PID) controller.

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A Fuzzy Approach for a Hybrid Multi-Mobile Robot Control Architecture to Maintain a Specific Formation During Navigation

Cited by 2 publications

References 0 publications

Efficient and secure real-time mobile robots cooperation using visual servoing

Efficient and secure real-time mobile robots cooperation using visual servoing

Archives of Electrical Engineering

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