Design of a robot controller for peloton formation using fuzzy logic

• Main Authors: Bedruz, Rhen Anjerome R., Bandala, Argel A., Vicerra, Ryan Rhay P., Concepcion, Ronnie S., Dadios, Elmer Jose P.
• Format: text
• Published: Animo Repository 2019
• Subjects: Swarm intelligence; Formation control (Machine theory); Engineering; Manufacturing
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/103; https://animorepository.dlsu.edu.ph/context/faculty_research/article/1102/type/native/viewcontent/RITAPP.2019.8932858
• Institution: De La Salle University

This paper presents a controller for the optimization of flocking and formation algorithm adapted from the flocking behavior of cycling team or pelotons. The controller developed is a fuzzy-logic controller for each of the robotic agent in order for them to perform a peloton formation. Results from the simulation shows that the developed fuzzy logic controller is slightly better than the mathematical models in maintaining a small and optimal position for the peloton formation which results to a more efficient and robust swarm system.