Formation Control of Robotic Swarm Using Bounded Artificial Forces
Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving tar...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2013/194280 |
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| _version_ | 1832548519420887040 |
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| author | Long Qin Yabing Zha Quanjun Yin Yong Peng |
| author_facet | Long Qin Yabing Zha Quanjun Yin Yong Peng |
| author_sort | Long Qin |
| collection | DOAJ |
| description | Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions. |
| format | Article |
| id | doaj-art-0be55bbdd2a7439682f496060173d569 |
| institution | Kabale University |
| issn | 1537-744X |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-0be55bbdd2a7439682f496060173d5692025-02-03T06:13:49ZengWileyThe Scientific World Journal1537-744X2013-01-01201310.1155/2013/194280194280Formation Control of Robotic Swarm Using Bounded Artificial ForcesLong Qin0Yabing Zha1Quanjun Yin2Yong Peng3College of Information System and Management, National University of Defense Technology, Hunan, Changsha 410073, ChinaCollege of Information System and Management, National University of Defense Technology, Hunan, Changsha 410073, ChinaCollege of Information System and Management, National University of Defense Technology, Hunan, Changsha 410073, ChinaCollege of Information System and Management, National University of Defense Technology, Hunan, Changsha 410073, ChinaFormation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions.http://dx.doi.org/10.1155/2013/194280 |
| spellingShingle | Long Qin Yabing Zha Quanjun Yin Yong Peng Formation Control of Robotic Swarm Using Bounded Artificial Forces The Scientific World Journal |
| title | Formation Control of Robotic Swarm Using Bounded Artificial Forces |
| title_full | Formation Control of Robotic Swarm Using Bounded Artificial Forces |
| title_fullStr | Formation Control of Robotic Swarm Using Bounded Artificial Forces |
| title_full_unstemmed | Formation Control of Robotic Swarm Using Bounded Artificial Forces |
| title_short | Formation Control of Robotic Swarm Using Bounded Artificial Forces |
| title_sort | formation control of robotic swarm using bounded artificial forces |
| url | http://dx.doi.org/10.1155/2013/194280 |
| work_keys_str_mv | AT longqin formationcontrolofroboticswarmusingboundedartificialforces AT yabingzha formationcontrolofroboticswarmusingboundedartificialforces AT quanjunyin formationcontrolofroboticswarmusingboundedartificialforces AT yongpeng formationcontrolofroboticswarmusingboundedartificialforces |