基于模糊逻辑零-空间行为控制的蜂群机器人多任务系统；文章

micromachinesArticleThe Multitasking System of Swarm Robot based onNull-Space-Behavioral Control Combined withFuzzy LogicNga Le Thi Thuy1and Thang Nguyen Trong2,*ID1Department of Cybernetics,University of Transport and Communication,Hanoi 122000,Vietnam;lethuyngautc.edu.vn2Department of Electrical Engineering and Automation,Haiphong Private University,Haiphong 181810,Vietnam*Correspondence:thangnthpu.edu.vn;Tel.:+84-168-846-8555Received:26 November 2017;Accepted:7 December 2017;Published:9 December 2017Abstract:A swarm robot is a collection of large numbers of simple robots used to perform complex tasksthat a single robot cannot perform or only perform ineffectively.The swarm robot works successfullyonly when the cooperation mechanism among individual robots is satisfied.The cooperation mechanismstudied in this article ensures the formation and the distance between each pair of individual robotswhile 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 thefuzzy logic structure of the Singer-Input-Singer-Output under Mamdani law;demonstrating