This paper investigates the problem of controlling multiple mobile agents to achieve flocking motion by using a fuzzy-logic-based potential function, while considering the influences of diversity of perception radius and initial velocities. A virtual leader is introduced to direct the group to track a desired path. Furthermore, the motion of the group is studied when the velocity damping and the mass of all agents are taken into account. By LaSalle's invariant principle, not only the system stability can be guaranteed, but the desired stable flocking motion can be also achieved. Numerical simulations are illustrated to demonstrate the effectiveness of the proposed algorithm.
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