Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning
Mobile robots are endeavoring toward full autonomy. To that end, wheeled mobile robots have to function under non-holonomic constraints and uncertainty derived by feedback sensors and/or internal dynamics. Speed control is one of the main and challenging objectives in the endeavor for efficient auto...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/10/3433 |
| _version_ | 1797534060520669184 |
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| author | Mohammad Samadi Gharajeh Hossein B. Jond |
| author_facet | Mohammad Samadi Gharajeh Hossein B. Jond |
| author_sort | Mohammad Samadi Gharajeh |
| collection | DOAJ |
| description | Mobile robots are endeavoring toward full autonomy. To that end, wheeled mobile robots have to function under non-holonomic constraints and uncertainty derived by feedback sensors and/or internal dynamics. Speed control is one of the main and challenging objectives in the endeavor for efficient autonomous collision-free navigation. This paper proposes an intelligent technique for speed control of a wheeled mobile robot using a combination of fuzzy logic and supervised machine learning (SML). The technique is appropriate for flexible leader-follower formation control on straight paths where a follower robot maintains a safely varying distance from a leader robot. A fuzzy controller specifies the ultimate distance of the follower to the leader using the measurements obtained from two ultrasonic sensors. An SML algorithm estimates a proper speed for the follower based on the ultimate distance. Simulations demonstrated that the proposed technique appropriately adjusts the follower robot’s speed to maintain a flexible formation with the leader robot. |
| first_indexed | 2024-03-10T11:24:16Z |
| format | Article |
| id | doaj.art-bf7efb3a9b384580b09eb9c7d0b4bf78 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T11:24:16Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-bf7efb3a9b384580b09eb9c7d0b4bf782023-11-21T19:48:17ZengMDPI AGSensors1424-82202021-05-012110343310.3390/s21103433Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine LearningMohammad Samadi Gharajeh0Hossein B. Jond1Polytechnic Institute of Porto, 4200-465 Porto, PortugalDepartment of Computer Science, VSB–Technical University of Ostrava, 17, Listopadu 2172/15, 708 00 Ostrava, Czech RepublicMobile robots are endeavoring toward full autonomy. To that end, wheeled mobile robots have to function under non-holonomic constraints and uncertainty derived by feedback sensors and/or internal dynamics. Speed control is one of the main and challenging objectives in the endeavor for efficient autonomous collision-free navigation. This paper proposes an intelligent technique for speed control of a wheeled mobile robot using a combination of fuzzy logic and supervised machine learning (SML). The technique is appropriate for flexible leader-follower formation control on straight paths where a follower robot maintains a safely varying distance from a leader robot. A fuzzy controller specifies the ultimate distance of the follower to the leader using the measurements obtained from two ultrasonic sensors. An SML algorithm estimates a proper speed for the follower based on the ultimate distance. Simulations demonstrated that the proposed technique appropriately adjusts the follower robot’s speed to maintain a flexible formation with the leader robot.https://www.mdpi.com/1424-8220/21/10/3433autonomous robotspeed controlintelligent techniquefuzzy systemsupervised machine learning |
| spellingShingle | Mohammad Samadi Gharajeh Hossein B. Jond Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning Sensors autonomous robot speed control intelligent technique fuzzy system supervised machine learning |
| title | Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning |
| title_full | Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning |
| title_fullStr | Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning |
| title_full_unstemmed | Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning |
| title_short | Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning |
| title_sort | speed control for leader follower robot formation using fuzzy system and supervised machine learning |
| topic | autonomous robot speed control intelligent technique fuzzy system supervised machine learning |
| url | https://www.mdpi.com/1424-8220/21/10/3433 |
| work_keys_str_mv | AT mohammadsamadigharajeh speedcontrolforleaderfollowerrobotformationusingfuzzysystemandsupervisedmachinelearning AT hosseinbjond speedcontrolforleaderfollowerrobotformationusingfuzzysystemandsupervisedmachinelearning |