Neighborhood description and flocking behavior analysis of swarm robots based on fuzzy logic

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 and 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.