Fuzzy System in Multivehicle Swarming

A large-scale multivehicle model is presented. Based on individual local observed information of the swarm, a fuzzy logical controller (FLC) of the attraction/repulsion function is built. Combining with the rate consensus algorithm, the swarming of the separation, cohesion and alignment is achieved. By applying the connected network from the individual local perceived information, the aggregation of the multi-agent systems can swarm following a whole consensus in the computer simulation.