Artificial moment method for swarm robot formation control

被引：14
|
作者：
Xu WangBao [1 ]
Chen XueBo [1 ]
机构：
[1] Liaoning Univ Sci & Technol, Sch Elect & Informat Engn, Anshan 114051, Peoples R China
来源：
SCIENCE IN CHINA SERIES F-INFORMATION SCIENCES | 2008年 / 51卷 / 10期
基金：
中国国家自然科学基金;
关键词：
swarm robot systems; formation control; artificial moment method; stability;
D O I：
10.1007/s11432-008-0084-3
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The purpose of this paper is to develop a general control method for swarm robot formation control. Firstly, an attraction-segment leader-follower formation graph is presented for formation representations. The model of swarm robot systems is described. According to the results and two kinds of artificial moments defined as leader-attraction moment and follower-attraction moment, a novel artificial moment method is proposed for swarm robot formation control. The principle of the method is introduced and the motion controller of robots is designed. Finally, the stability of the formation control system is proved. The simulations show that both the formation representation graph and the formation control method are valid and feasible.
引用
收藏
页码：1521 / 1531
页数：11
相关论文
共 50 条
  • [21] Multi-robot Formation Control Using Reinforcement Learning Method
    Zuo, Guoyu
    Han, Jiatong
    Han, Guansheng
    ADVANCES IN SWARM INTELLIGENCE, PT 1, PROCEEDINGS, 2010, 6145 : 667 - 674
  • [22] Formation motion control for swarm robots
    La B.H.
    Kim S.H.
    Joo Y.H.
    Transactions of the Korean Institute of Electrical Engineers, 2011, 60 (11) : 2147 - 2151
  • [23] Artificial moment method using attractive points for the local path planning of a single robot in complicated dynamic environments
    Xu, Wang-bao
    Zhao, Jie
    Chen, Xue-bo
    Zhang, Ying
    ROBOTICA, 2013, 31 : 1263 - 1274
  • [24] Optimising Autonomous Robot Swarm Parameters for Stable Formation Design
    Stolfi, Daniel H.
    Danoy, Gregoire
    PROCEEDINGS OF THE 2022 GENETIC AND EVOLUTIONARY COMPUTATION CONFERENCE (GECCO'22), 2022, : 1281 - 1289
  • [25] Function-segment artificial moment method for sensor-based path planning of single robot in complex environments
    Xu, Wang-bao
    Chen, Xue-bo
    Zhao, Jie
    Liu, Xiao-ping
    INFORMATION SCIENCES, 2014, 280 : 64 - 81
  • [26] A Virtual Spring Method for the Multi-robot Path Planning and Formation Control
    Zhenhua Pan
    Di Wang
    Hongbin Deng
    Kewei Li
    International Journal of Control, Automation and Systems, 2019, 17 : 1272 - 1282
  • [27] Multi-Robot formation control based on improved virtual spring method
    Chen, Yimei
    Shi, Xiaofan
    Li, Baoquan
    2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC, 2022, : 5614 - 5619
  • [28] A Virtual Spring Method for the Multi-robot Path Planning and Formation Control
    Pan, Zhenhua
    Wang, Di
    Deng, Hongbin
    Li, Kewei
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2019, 17 (05) : 1272 - 1282
  • [29] Formation control for swarm system with dynamic obstacles
    Lan, Z. X.
    Guan, Y. C.
    Chen, Y.
    INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2024, 55 (04) : 701 - 713
  • [30] Decentralized Formation Control of a Swarm of Quadrotor Helicopters
    Toksoz, Mehmet Altan
    Oguz, Sinan
    Gazi, Veysel
    2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), 2019, : 1006 - 1013
12345