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
  • [31] Design of Swarm Robots Formation Control System
    Lan, Rongfu
    Wang, Xin
    Xiao, Zhenlong
    Wang, Ran
    Lin, Yinfu
    Fang, Renjie
    2019 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2019, : 790 - 795
  • [32] Study on swarm robots aggregation formation control
    Li, C.-M., 1600, Asian Network for Scientific Information (13): : 5071 - 5077
  • [33] Formation Control of Multiple Robot Fishes Based on Artificial Potential Field and Leader-follower Framework
    Zhai, Haichuan
    Ji, Zhijian
    Gao, Junwei
    2013 25TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2013, : 2616 - 2620
  • [34] Multi-UAV Formation Control Method Based on Modified Artificial Physics
    Fu, Yu
    Wang, XiangKe
    Huan, Liu
    Zhu, HuaYong
    PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC), 2016, : 2523 - 2529
  • [35] 3D hybrid formation control of an underwater robot swarm: Switching topologies, unmeasurable velocities, and system constraints
    Zhang, Yuwei
    Wang, Shaoping
    Heinrich, Mary Katherine
    Wang, Xingjian
    Dorigo, Marco
    ISA TRANSACTIONS, 2023, 136 : 345 - 360
  • [36] Formation Control Based on Leader - Following Method for Multi - robot to Reduce Path deviation
    Yang Yiqun
    Jiang Hongjie
    2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2017, : 6607 - 6613
  • [37] Application of Formation Control Algorithms to achieve Reconfigurable Swarm Formation Shapes
    Shekhar, Aman
    Meena, Gagan Deep
    2022 8TH INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES (CODIT'22), 2022, : 1082 - 1086
  • [38] A method for multi-snake-like robot formation control and cooperative obstacle avoidance
    Pang, Yunbo
    Huang, Darong
    Na, Yuhong
    Zhou, Yunhu
    2024 3RD CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, FASTA 2024, 2024, : 1288 - 1293
  • [39] Optimization-Driven Control and Organization of a Robot Swarm for Cooperative Transportation
    Ebel, Henrik
    Eberhard, Peter
    IFAC PAPERSONLINE, 2019, 52 (15): : 115 - 120
  • [40] SWARM AGGREGATION AND FORMATION CONTROL FOR ROBOTS WITH LIMITED PERCEPTION
    Jimenez, Paulo A.
    Shirinzadeh, Bijan
    Oetomo, Denny
    Nicholson, Ann
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2011, 26 (03) : 255 - 263
12345