Multi-robot Deconflicted Path Planning for Wheeled Mobile Robot Through Fuzzy Logic Controller
In this paper we propose a multi-robot path planning algorithm that integrates a Vector Field Histogram (VFH) algorithm and fuzzy logic controller inspired by International Regulations for Preventing Collisions at Sea (COLREGs) traffic rules with a collision area membership function that identifies suitable traffic procedures for each robot to take, to address the problem of multi-robot navigation in narrow environments. The proposed algorithm was validated using a simulation that used parameters from a Pioneer 3DX robot and a 2D scanned world map. The robots that were used, and the proposed planning algorithm, are relatively generic and could be applied in various real scenarios, such as production facilities, warehouses and product delivery. The results from the simulated experiments demonstrate that the proposed algorithm is robust and computationally efficient.