Fuzzy logic controller for cooperative mobile robotics implemented in leader-follower formation approach/Controlador de lógica difusa para rebotica cooperativa móvil implementando el método líder-seguidor

This paper presents the design of a fuzzy logic cooperative control by implementing the leader-follower approach that allows establishing and maintaining a specific geometric formation to a mobile robot group while they are moving along a predefined trajectory. As a result of the research, it was proved by simulation, a cooperative control system that permits a set of robots to keep a specific formation while the group performs a predetermined mission. This control system helps avoid obstacles by modifying the formation or by changing the leader inside the group. KEYWORDS Control systems, cooperative robotics, mobile robotics, fuzzy logic control, leader-follower Este articulo presenta el diseno de un controlador de logica difusa implementando el metodo lider-seguidor para un sistema de robotica cooperativa movil, que permita a un grupo de robots establecer y mantener una formacion geometrica especifica mientras se desplazan siguiendo una trayectoria de referencia. Como resultado de la investigacion, se probo mediante simulacion un sistema de control cooperativo, que permite a un grupo de robots mantener una formacion especifica mientras desarrollan una mision determinada. Este controlador permite evadir obstaculos cambiando la formacion o cambiando el lider del grupo en cualquier momento. Sistema de control, robotica cooperativa, robotica movil, controlador de logica difusa, lider-seguidor