The multitasking system of swarm robot based on Null-Space-Behavioral control combined with fuzzy logic

Abstract

A swarmrobot is a collection of large numbers of simple robots used to performcomplex tasks that a single robot cannot perform or only perform ineffectively. The swarm robot works successfully onlywhen the cooperationmechanismamong individual robots is satisfied. The cooperationmechanism studied in this article ensures the formation and the distance between each pair of individual robots while moving to their destination while avoiding obstacles. The solved problems in this article include; controlling the suction/thrust force between each pair of individual robots in the swarm based on the fuzzy logic structure of the Singer-Input-Singer-Output underMamdani law; demonstrating the stability of the system based on the Lyapunov theory; and applying control to the multitasking system of the swarm robot based on Null-Space-Behavioral control. Finally, the simulation results make certain that all the individual robots assemble after moving and avoid obstacles.