Flocking with obstacle avoidance based on fuzzy logic

In this study, flocking with obstacle avoidance control algorithm for multi-agent dynamical network is studied. Fuzzy logic is used to design the attractive/repulsive function. Cooperative control algorithm is proposed for a group of autonomous agents to achieve flocking formations following a virtual agent and avoiding obstacles. The control law consists of three terms. The first term is designed using fuzzy logic for collision avoidance and velocity consensus; The second one is also designed using fuzzy logic for obstacle avoidance; The third one is for tracking purposes. Smooth graph Laplacian and Smooth attractive/repulsive potential designed using fuzzy logic are used to overcome the difficulties in stability analysis. The theoretical result is presented to indicate the achievement of flocking motion (cohesiveness, collision avoidance and velocity matching). Finally, simulation examples are given to validate the theoretical analysis.