Design of a Robot Controller for Peloton Formation Using Fuzzy Logic

Abstract

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.