Fuzzy Logic Controller for Autonomous Environment-Based Drone Swarm Formation

Abstract

The study primarily delves into the development of a fuzzy logic-based controller for adaptive drone swarm formation control taking into account the velocity, altitude, distances, and approached terrain qualities perceived by the system. As such, it made use of the Mamdani framework whose sets of rules were developed through the use of MATLAB - primarily focusing on the aforementioned factors in order to devise a controller that would allow for terrain-based adaptive formation control which would be of great benefit in the operation of drone swarms traversing dynamic terrain systems. In this regard, the study was then able to develop a fuzzy logic controller that exhibits the interaction between these factors whereby depending on the initial speed of the drone swarm as it approaches the terrain in conjunction with its width, the formation of the drone swarm shall then be transformed or adjusted accordingly.