Application of fuzzy logic in collision avoidance control of multiple swarm robots
Email:
lethuynga@utc.edu.vn
Từ khóa:
Swarm robots, multiple swarm robots, collision avoidance, swarms maintain, Takagi–Sugeno fuzzy structures, Mamdani fuzzy structures.
Tóm tắt
In nature, many swarms of organisms may encounter one another while moving in search of food, which can lead to conflicts between groups. In the field of transportation, there are flows of unmanned vehicles traveling from different directions on the roads; when they reach intersections, the challenge is how these vehicles can pass one another without collisions and then continue toward their destinations as originally planned. Groups of drones fly in the sky, controlled to form various shapes. So how do these drone swarms move past each other without colliding while forming the desired shape? This paper proposes a solution based on the use of Takagi–Sugeno and Mamdani SISO fuzzy structures to compute internal forces within a swarm, target-directed forces, and forces for avoiding other swarms. The proposals above will be validated through MATLAB simulations under different scenarios involving varying numbers of swarms and different numbers of individuals in each swarm.Tài liệu tham khảo
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[4]. Lê Thị Thúy Nga, Lê Hùng Lân, Phân tích sự ổn định tụ bầy của robot bầy đàn sử dụng hàm hút/đẩy mờ, Tạp chí Khoa học Giao thông Vận tải, 10 (2013) 88-93.
[5]. Lê Thị Thúy Nga, Lê Hùng Lân, Điều khiển robot bầy đàn tìm kiếm mồi và tránh vật cản sử dụng logic mờ, Tạp chí Khoa học Giao thông vận tải, 3 (2014) 15-20.
[6]. Le Thi Thuy Nga, Nguyen Van Binh, Le Hung Lan, Stabilizing the Flexible Convergence of Swarm Robot by Fuzzy Attraction and Repulsion, Control Engineering and Applied Informatics, 24(2022) 58-66.
[7]. Nga Le Thi Thuy, Thang Nguyen Trong, The Multitasking System of Swarm Robot based on Null-Space-Behavioral Control Combined with Fuzzy Logic, Micromachines, 8 (2017) 357. https://doi.org/10.3390/mi8120357
[8]. K. Yamagishi, T. Suzuki, Cooperative Passing Based on Chaos Theory for Multiple Robot Swarms, Journal of Robotics and Mechatronics, 35 (2023). https://doi.org/10.20965/jrm.2023.p0969
[9]. A. P. Singh, G. Kumar, G.Si. Dhillon, H.Taneja, Hybridization of chaos theory and dragonfly algorithm to maximize spatial area coverage of swarm robots, Evolutionary Intelligence, Vol.17, 2024, 1327-1340. https://doi.org/10.1007/s12065-023-00823-5.
[10]. Y. Yaguchi, K. Tamagawa, A Waypoint Navigation Method with Collision Avoidance Using an Artificial Potential Method on Random Priority, Artificial Life and Robotics, 25 (2022) 278-285. https://doi.org/10.1007/s10015-020-00583-w
[11]. B. Zhang, H. P. Gavin, Natural Deadlock Resolution for MultiAgent Multi-Swarm Navigation, 2021 60th IEEE Conf. on Decision and Control, (2021) 5958-5963. https://doi.org/10.1109/CDC45484.2021.9683102.
[12]. L. Luo, X. Wang, J. Ma, Y.-S. Ong, GrpAvoid: Multigroup Collision-Avoidance Control and Optimization for UAV Swarm, IEEE Trans. on Cybernetics, 53 (2023) 1776-1789. https://doi.org/10.1109/TCYB.2021.3132044.
[2]. I. D.Kelly, D.A. Keating, Flocking by the fusion of sonar and active infrared sensors on physical autonomous mobile robots, Proc. Mechatronics ’96, 1996.
[3]. Hanada, Y. G. Lee, N. Y. Chong, Adaptive Flocking of a Swarm of Robots Based on Local Interactions, Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol, Nomi Swarm Intelligence Symposium, (2007) 340-347.
[4]. Lê Thị Thúy Nga, Lê Hùng Lân, Phân tích sự ổn định tụ bầy của robot bầy đàn sử dụng hàm hút/đẩy mờ, Tạp chí Khoa học Giao thông Vận tải, 10 (2013) 88-93.
[5]. Lê Thị Thúy Nga, Lê Hùng Lân, Điều khiển robot bầy đàn tìm kiếm mồi và tránh vật cản sử dụng logic mờ, Tạp chí Khoa học Giao thông vận tải, 3 (2014) 15-20.
[6]. Le Thi Thuy Nga, Nguyen Van Binh, Le Hung Lan, Stabilizing the Flexible Convergence of Swarm Robot by Fuzzy Attraction and Repulsion, Control Engineering and Applied Informatics, 24(2022) 58-66.
[7]. Nga Le Thi Thuy, Thang Nguyen Trong, The Multitasking System of Swarm Robot based on Null-Space-Behavioral Control Combined with Fuzzy Logic, Micromachines, 8 (2017) 357. https://doi.org/10.3390/mi8120357
[8]. K. Yamagishi, T. Suzuki, Cooperative Passing Based on Chaos Theory for Multiple Robot Swarms, Journal of Robotics and Mechatronics, 35 (2023). https://doi.org/10.20965/jrm.2023.p0969
[9]. A. P. Singh, G. Kumar, G.Si. Dhillon, H.Taneja, Hybridization of chaos theory and dragonfly algorithm to maximize spatial area coverage of swarm robots, Evolutionary Intelligence, Vol.17, 2024, 1327-1340. https://doi.org/10.1007/s12065-023-00823-5.
[10]. Y. Yaguchi, K. Tamagawa, A Waypoint Navigation Method with Collision Avoidance Using an Artificial Potential Method on Random Priority, Artificial Life and Robotics, 25 (2022) 278-285. https://doi.org/10.1007/s10015-020-00583-w
[11]. B. Zhang, H. P. Gavin, Natural Deadlock Resolution for MultiAgent Multi-Swarm Navigation, 2021 60th IEEE Conf. on Decision and Control, (2021) 5958-5963. https://doi.org/10.1109/CDC45484.2021.9683102.
[12]. L. Luo, X. Wang, J. Ma, Y.-S. Ong, GrpAvoid: Multigroup Collision-Avoidance Control and Optimization for UAV Swarm, IEEE Trans. on Cybernetics, 53 (2023) 1776-1789. https://doi.org/10.1109/TCYB.2021.3132044.
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Nhận bài
10/01/2026
Nhận bài sửa
19/03/2026
Chấp nhận đăng
26/03/2026
Xuất bản
15/05/2026
Chuyên mục
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Kiểu trích dẫn
Le Thi Thuy, N., & Nguyen Manh, D. (1778778000). Application of fuzzy logic in collision avoidance control of multiple swarm robots. Tạp Chí Khoa Học Giao Thông Vận Tải, 77(4), 459-470. https://doi.org/10.47869/tcsj.77.4.9
