Design of a robot controller for peloton formation using fuzzy logic

Authors

Rhen Anjerome R. Bedruz, De La Salle University, Manila
Argel A. Bandala, De La Salle University, Manila
Ryan Rhay P. Vicerra, De La Salle University, Manila
Ronnie S. Concepcion, De La Salle University, Manila
Elmer Jose P. Dadios, De La Salle University, Manila

College

Gokongwei College of Engineering

Department/Unit

Manufacturing Engineering and Management

Document Type

Conference Proceeding

Source Title

2019 7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019

First Page

83

Last Page

88

Publication Date

11-1-2019

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.

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Digitial Object Identifier (DOI)

10.1109/RITAPP.2019.8932858

Recommended Citation

Bedruz, R. R., Bandala, A. A., Vicerra, R. P., Concepcion, R. S., & Dadios, E. P. (2019). Design of a robot controller for peloton formation using fuzzy logic. 2019 7th International Conference on Robot Intelligence Technology and Applications, RiTA 2019, 83-88. https://doi.org/10.1109/RITAPP.2019.8932858

Disciplines

Engineering | Manufacturing

Keywords

Swarm intelligence; Formation control (Machine theory)

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