RESEARCH ON APPLICATION OF ATTRACTIVE AND REPULSIVE FUNCTIONS FOR FUZZY CONTROLLER TO CONTROL SWARMING BEHAVIOR, SEARCHING FOR PREY OF SWARM ROBOT

Abstract

The research problem is to build a simple but effective control algorithm that allows swarm robots to maintain coordination in movement and perform well in the task of finding targets. The research models the interaction forces between robots with each other and with the surrounding environment using an attraction function, in which the attraction helps maintain the formation and aim at the target, while the repulsion helps avoid collisions and disperse when necessary. This input information is fed into a fuzzy controller to determine the velocity and direction of movement for each robot. The control model is evaluated through simulation on Matlab with specific scenarios: moving in a swarm, avoiding obstacles and converging at the bait location. The proposed algorithm allows the robots to maintain a stable formation structure during movement and disperse reasonably when searching for targets. The simulation results show that the robots are capable of converging accurately at the bait location with small positioning errors, short convergence time and low collision levels. The integration of the repulsive force model into the fuzzy controller shows the ability to effectively simulate swarming and prey-seeking behaviors of swarm robots. The research results open up application directions in search and rescue in complex and constantly changing environments.