Behaviour Based Fuzzy Flocking Systems

In this paper, we present an approach to design a flocking algorithm by using fuzzy logic. The design of three basic behaviours in a flocking algorithm is discussed. They are alignment behaviour, separation behaviour, and cohesion behaviour. Navigation control component is used in the design of cohesion behaviour. To avoid becoming crowding or collision, an adaptive navigation gain is used. This gain changes with the number of neighbours. The flocking stability is analyzed and stability conditions are acquired from the stability analysis. These stability conditions can be used as constraints on the design of fuzzy logic control functions. Simulations of 200 agents with double integrator dynamics are given. The three behaviours are evaluated through different performances.