Follow the leader behavior for a decentralized robotic swarm using fuzzy logic
I wanted to explore swarm robotics and using fuzzy logic for the control scheme instead of the standard PID control for the final project in my Computational Robotics class. In this project, I built out the decentralized follower behavior so that any numbered robotic swarm could have the follow the leader behavior using computer vision and an AR tag to locate the robot to follow.
While the class usually supplies physical Neatos to work on, because of the Coronavirus we had to program in the Gazebo simulator. However, the project is easily transferable to a physical robot. The only difference is that we are simulating a Neato instead of running our code on a raspberry pi connected to the Neato.
To learn more: https://github.com/annagriffin/swarm_follow_leader
Demos with more gifs: https://annagriffin.github.io/swarm_follow_leader/demos/