Neighborhood Description and Flocking Behavior Analysis of Swarm Robots Based on Fuzzy Logic

摘要：

The control algorithm on coordination behavior of a flocking system consists of three components;they are collision avoidance,cohesion and alignment The three components are realized by application of interactions between the agents in the system as well as guidance of the environment.To achieve better coordination through interactions between agents,the concept of fuzzy neighborhood is introduced in this paper.And the fuzzy grading is utilized to describe it For agent i,the intensities of neighborhood,characterized by numbers in the range of 0-1,vary with the distances between the other agents 1and agent i.The smaller the distance,the larger the intensity and its value tends closer to 1;the larger the distance,the weaker the intensity and its value tends closer to 0.By this method,interactions and coordination between agents have been built to obtain the ultimate coordination of the flocking system.

关键词： flocking behavior neighborhood fuzzy logic coordination control

作者: Zongchun Liu Yantao Tian Mao Yang

作者单位: School of Communication Engineering Jilin University Changchun,China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 25-29

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）