Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Formation Control for Swarm Robot using Radius of Curvature

곡률 반경을 이용한 군집 로봇의 대형 제어

  • Kang, Dong Woo (School of Mechanical Engineering, Pusan National University) ;
  • Song, Young Hun (School of Mechanical Engineering, Pusan National University) ;
  • Lee, Suk (School of Mechanical Engineering, Pusan National University) ;
  • Lee, Kyung Chang (Department of Control and Instrumentation Engineering, Pukyong National University)
  • 강동우 (부산대학교 기계공학부) ;
  • 송영훈 (부산대학교 기계공학부) ;
  • 이석 (부산대학교 기계공학부) ;
  • 이경찬 (부경대학교 제어계측공학과)
  • Received : 2014.05.20
  • Accepted : 2014.10.14
  • Published : 2014.11.01
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Abstract

This paper presents a new method to control swarm robots so that they can keep the formation while following a curved path. The main idea is to utilize the information on the instant center of gyration. For a given path, location of the instant center of the formation center is calculated, and individual robots follow the circular path around the calculated instant center. Performance of curvature-radius based method is compared with leader-follower referenced method via MATLAB simulation.

Keywords

References

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