Navigational control of several mobile robotic agents using Petri-potential-fuzzy hybrid controller

In this paper, a Petri-potential-fuzzy hybrid controller (PFHC) for obstacle avoidance and target seeking navigational behaviour of multiple mobile robots in unknown cluttered environments is presented. Based upon a reference motion, direction; distances between the robots and obstacles; distances between the robots and targets are given as inputs to the potential-fuzzy controller. In order to get the requisite information between robots, targets and obstacles each robot is equipped with an array of on board ultrasonic sensors for measuring the distances of obstacles and other robots around it and series of infrared sensors for detecting the bearing of target. To realize the controller in real sense the program is embedded in the robot for online independent navigation. In order to avoid inter robot collision each robot incorporates a set of collision prevention rules implemented as a Petri Net Model in its controller. The resulting navigation algorithm has been implemented on real mobile robots and tested in various environments. Experimental results presented demonstrate the effectiveness and improved performance of the developed controller navigation scheme.