Using a Self‐Clustering Algorithm and Type‐2 Fuzzy Controller for Multi‐robot Deployment and Navigation in Dynamic Environments

• Published in: Asian journal of control Vol. 22; no. 6; pp. 2143 - 2155
• Main Authors: Jhang, Jyun‐Yu, Lee, Chin‐Ling, Lin, Cheng‐Jian, Young, Kuu‐Young
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.11.2020
• Subjects: Algorithms; Automation; cluster algorithm; Clustering; Controllers; Fuzzy control; fuzzy controller; mobile robot control; Multiple robots; Navigation; navigation control; Optimization; robot deployment; Robots; type‐2 fuzzy set
• ISSN: 1561-8625; 1934-6093
• DOI: 10.1002/asjc.2283

This study proposes a novel method for multi‐robot deployment and navigation under dynamic environments. To automatically determine the location deployment of multiple robots, a grid‐based method and self‐clustering algorithm (SCA) were used to simplify the environmental information and automatically deploy robot locations. In the navigation process, a behavior selector automatically turns on towards goal mode or wall‐following mode (WFM) depending on environmental conditions. WFM control adopts an interval type‐2 fuzzy controller (IT2FC). The parameters of the IT2FC are adjusted by using the dynamic group whale optimization algorithm (DGWOA). The proposed DGWOA uses a dynamic group and Lévy flight strategy to overcome the problem of falling into a local minimum solution. Experimental results reveal that the proposed method can successfully complete navigation tasks under dynamic environments.