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A robust-adaptive fuzzy coverage control for robotic swarms

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Abstract

In this paper, a decentralized adaptive control scheme for multi-robot coverage is proposed. This control method is designed based on centroidal Voronoi configuration integrated with robust adaptive fuzzy control techniques. We consider simple single integrator mobile robots used for covering dynamical environments, where an adaptive fuzzy logic system is used to approximate the unknown parts of control law. A robust coverage criterion is used to attenuate the adaptive fuzzy approximation error and measurement noises to a prescribed level. Therefore, the robots motion is forced to obey solutions of a coverage optimization problem. The advantages of the proposed controller can be listed as robustness to external disturbances, computation uncertainties, and measurement noises, while applicability on dynamical environments. A Lyapunov-function based proof is given of robust stability, i.e. convergence to the optimal positions with bounded error. Finally, simulation results are demonstrated for a swarm coverage problem simultaneous with tracking mobile intruders.

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Authors and Affiliations

  1. Young Researchers Club, Sepidan Branch, Islamic Azad University, Sepidan, Iran

    Mostafa Jahangir & Siavash Khosravi

  2. Department of Electronics, Sepidan Branch, Islamic Azad University, Sepidan, Iran

    Hossein Afkhami

Authors
  1. Mostafa Jahangir
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  2. Siavash Khosravi
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  3. Hossein Afkhami
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Correspondence to Siavash Khosravi.

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Jahangir, M., Khosravi, S. & Afkhami, H. A robust-adaptive fuzzy coverage control for robotic swarms. Nonlinear Dyn 69, 1191–1201 (2012). https://doi.org/10.1007/s11071-012-0340-3

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  • DOI: https://doi.org/10.1007/s11071-012-0340-3

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