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군집 로봇의 포메이션 이동 제어

Formation Motion Control for Swarm Robots

  • 라병호 (군산대학교 제어로봇공학과) ;
  • 김성호 (군산대학교 제어로봇공학과) ;
  • 주영훈 (군산대학교 제어로봇공학과)
  • 투고 : 2011.07.08
  • 심사 : 2011.10.15
  • 발행 : 2011.11.01

초록

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.

키워드

참고문헌

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피인용 문헌

  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