Stabilizing the Flexible Convergence of Swarm Robot by Fuzzy Attraction and Repulsion

Abstract

Controlling a swarm robot is a way of handling the behaviour of individual robots inspired by the organization of animal societies. Through local rules and interactions, swarm robotics aims to build sustainable collective behaviour, with an open and flexible mechanism to coordinate with large numbers of individuals. This paper proposes a solution for attractive/repulsive functions with clear mathematical descriptions with Mamdani fuzzy method, which is more flexible and closer to natural logic. Conditions for stabilizing the convergence process are introduced based on Lyapunov theory with swarm model and its interaction coefficients. Simulation results verify the important characteristics of the system through Matlab software.