Leader-Follower formation for UAV robot swarm based on fuzzy logic theory
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2018-05-11
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Abstract
This paper proposes an algorithm based on a fuzzy logic
approach, capable to guide a robot swarm with the aim to keep a leaderfollower
formation without colliding with other swarm agents. The fuzzy
system is programmed and evaluated originally in Matlab, where several
experiments were performed. The results depicted a robot swarm showing
some bio-inspired behaviors, such as swarm agents surrounding the leader
when it is in a static position or when it is traveling from one place to
another place. Finally, the proposed fuzzy system was implemented on
a drone swarm using V-Rep. The drones simulation shows the swarm
navigating together and keeping the leader in the center of the swarm
when it is static and following the leader when it is moving. These results
could be evaluated in a future work using drone robot swarm in real
environments.
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