The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지
DOI QR코드

DOI QR Code

Formation Motion Control for Swarm Robots

군집 로봇의 포메이션 이동 제어

  • 라병호 (군산대학교 제어로봇공학과) ;
  • 김성호 (군산대학교 제어로봇공학과) ;
  • 주영훈 (군산대학교 제어로봇공학과)
  • Received : 2011.07.08
  • Accepted : 2011.10.15
  • Published : 2011.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose the formation control algorithm for swarm robots. The proposed algorithm uses the artificial potential field(APF) to plan the global path of swarm robots and to control the formation movement. The navigation function generates a global APF for a leader robot to reach a given destination and an avoidance function generates a local APF for follow robots to avoid obstacles. Finally, some simulations show the validity of the proposed method.

Keywords

References

  1. T. Balch and R. C. Arkin, "Behavior-based Formation Control for Multi-robot Teams," IEEE Trans. on Robotics and Automation, Vol. 14, No. 6, pp. 926- 939, 1998. https://doi.org/10.1109/70.736776
  2. R. T. Lawton, and R. W. Beard, "A Decentralized Approach to Formation Maneuvers," IEEE Trans. on Robotics and Automation, Vol. 19, No. 6, pp. 933- 941, 2003. https://doi.org/10.1109/TRA.2003.819598
  3. R. Daily and D. M. Bevly, "Harmonic Potential Field Path Planning for High Speed Vehicles," American Control Conference, pp. 4609-4614, 2008.
  4. J. Ren and K. A. McIsaac, "A Hybrid-Systems Approach to Potential Field Navigation for a Multi-Robot Team," Proc. of the IEEE Int. conf. Robot. Autom, pp. 3875-3880, Sep., 2003.
  5. G. Beni, "From Swarm Intelligence to Swarm Robot", Swarm Robotics WS 2004, LNCS 3342, pp. 1-9, 2005.
  6. S. Garnier, J. Gautrais and G. Theraulaz, "The Biological Principals of Swarm Intelligence", Swarm Intelligence, Springer New york, Vol. 1, No. 1, pp. 3-31, 2007. https://doi.org/10.1007/s11721-007-0004-y
  7. A. Howard, M. J. Mataric, and G. S. Sukhatme, "An incremental selfdeployment algorithm for mobile sensor networks", Autonomous Robots, Vol. 13, pp. 113-126, 2002. https://doi.org/10.1023/A:1019625207705
  8. D. M. Stipanovic, G. Inalhan, R. Teo, and C. J. Tomlin, "Decentralized Overlapping Control of a Formation of Unmanned Aerial Vehicles", IEEE Transactions on Robotics and Automation, Vol. 40, pp. 1285-1296, 2004.
  9. J. Tan, B. Xi, W. Sheng and J. Xiao, "Modeling Multiple Robot Systems for Area Coverage and Cooperation," Proceedings of the 2004 IEEE International Conference on Robotics & Automation, Vol. 3, pp. 2568-2573, April, 2004.
  10. M. R. Weinberg and J. R. Croxell, "An Implementation of Robot Formations Using Local Interactions", Proc. of The 22nd National Conf. on Artificial Intelligence (AAAI-07), pp. 1989-90, 2007.
  11. R. Mead, J. B. Weinberg, and J. R. Croxell, "Reactive navigation in outdoor environments using potential fields," IEEE Trans. on Robotics and Automation, Vol. 2, pp. 1232-1237, 1998. https://doi.org/10.1109/ROBOT.1998.677268

Cited by

  1. Behavior Control Algorithm of Swarm Robots to Maintain Network Connectivity vol.19, pp.12, 2013, https://doi.org/10.5302/J.ICROS.2013.13.1956
  2. Optimal Region Deployment for Cooperative Exploration of Swarm Robots vol.22, pp.6, 2012, https://doi.org/10.5391/JKIIS.2012.22.6.687
  3. Formation Control for Swarm Robot using Radius of Curvature vol.31, pp.11, 2014, https://doi.org/10.7736/KSPE.2014.31.11.1023
  4. Asynchronous Behavior Control Algorithm of the Swarm Robot for Surrounding Intruders vol.18, pp.9, 2012, https://doi.org/10.5302/J.ICROS.2012.18.9.812