A novel hedge algebra formation control for mobile robots.

Hedge algebra is gaining increasing attention due to its high efficiency and fast calculation speed compared to fuzzy logic. This paper proposes the first algebra-based formation controller with a leader–follower approach to maintain the desired formation of multiple robots. In each time step, the controller computes the desired positions of the followers and strives to minimize the distance between them and their desired positions. We evaluate the performance of this controller on our robots using ROS in a virtual environment with Gazebo. Our work proves hedge algebra's significant potential in the mobile robots' domain, specifically in formation control. HAFC allows not only the precise formation of a robot swarm into any desired formation, with minimal deviation but also adaptive transition to the different formations. Our results show that HAFC can effectively maintain the desired formation of multiple robots, even in certain extraordinary situations. Furthermore, HAFC exhibits higher efficiency than the fuzzy logic-based controller, as evidenced by its faster adaptation rate and shorter computation time. The proposed approach has the potential to be applied in various real-world scenarios, such as surveillance, transportation, and exploration, where the robot has to move in formation and change formation accordingly with the terrain. • This work is the first study in formation control of mobile robots and adaptive formation translation based on the Hedge-algebras theory. • HAFC exhibits higher efficiency compared to the fuzzy logic-based controller, as evidenced by its faster adaptation rate and shorter computation time. • The simulation is implemented on ROS and obtain a high accuracy and miniature errors. A structure is proposed so as to conduct real formation experiments. • The proposed approach has the potential to be applied in various real-world scenarios, such as surveillance, transportation, and exploration, where the robots have to move in formation and change formation accordingly with the terrain. [ABSTRACT FROM AUTHOR]