Formation control design for real swarm robot using fuzzy logic

This paper presents is to design swarm formation control using behavior-based for real robots. It's consists of two behavior are avoiding obstacles and formation keeping. During formation, the robots are also desired to coordinate among themselves to avoid collisions and keep formation the desired distance between each other. This design is using Fuzzy Logic Controller System. In this work a fuzzy logic controller has been used successfully in control system for the obstacle avoidance and formation keeping.