In this paper, we demonstrate a method for self-organization and leader following of nonholonomic robotic swarm based on spring damper mesh. By self-organization of swarm robots we mean the emergence of order in a swarm as the result of interactions among the single robots. In other words the self-organization of swarm robots mimics some natural behavior of social animals like ants among others. The dynamics of two-wheel robot is derived, and a relation between virtual forces and robot control inputs is defined in order to establish stable swarm formation. Two cases of swarm control are analyzed. In the first case the swarm cohesion is achieved by virtual spring damper mesh connecting nearest neighboring robots without designated leader. In the second case we introduce a swarm leader interacting with nearest and second neighbors allowing the swarm to follow the leader. The paper ends with numeric simulation for performance evaluation of the proposed control method.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Virtual spring damper method for nonholonomic robotic swarm self-organization and leader following



    Erscheinungsdatum :

    2018-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Virtual spring damper method for nonholonomic robotic swarm self-organization and leader following

    Wiech, Jakub / Eremeyev, Victor A. / Giorgio, Ivan | BASE | 2018

    Freier Zugriff

    Leader competencies in virtual organization

    Bulinska-Stangrecka, Helena | BASE | 2018

    Freier Zugriff

    Spring damper bearing and spring damper bearing assembly

    YAN LIUQING / WU YONG / YU XIANGYANG et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    SPRING DAMPER AND ACCELERATOR DEVICE USING SAID SPRING DAMPER

    KITA TAKUTO / INUZUKA YOSHINORI | Europäisches Patentamt | 2016

    Freier Zugriff

    SPRING DAMPER BEARING AND SPRING DAMPER BEARING ASSEMBLY

    YAN LIUQING / WU YONG / YU XIANGYANG et al. | Europäisches Patentamt | 2022

    Freier Zugriff