A Noncommunicative Memory-Pushing Fuzzy Control Strategy for Sensorless Multirobot Systems

Figure 1

Description of the multirobot system on underground fully mechanized coal mining face; (a) layout of equipment on the underground fully mechanized coal mining face; scraper conveyor is composed of many middle troughs (MTs) connected to neighbors. HMSRs push corresponding MT forward or backward; (b) physical model of the multirobot system, MTs are physically connected with neighbors; (c) planar pushing manipulation model of the multirobot system, the pushing objective is to push all MTs to align with neighbors; (d) mechanics of single MT without physical connection; (e) mechanics of multiple MTs with physical connections, each MT is connected with two neighbors.