This paper presents a new approach to control robots, which can quickly find their swarm while tracking a moving target through the obstacles of the environment. In this approach, an artificial potential field is generated between each free-robot and the virtual attractive point of the swarm. This artificial potential field will lead free-robots to their swarm. The swarm-finding of these free-robots dose not influence the general motion of their swarm and nor other robots. When one singular robot approaches the swarm then its swarm-search will finish, and it will further participate with its swarm to reach the position of the target. The connections between member-robots with their neighbours are controlled by the artificial attractive/repulsive force field between them to avoid collisions and keep the constant distances between them in ordered formation. The effectiveness of the proposed approach has been verified in simulations.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Intelligent Swarm-Finding in Formation Control of Multi-Robots to Track a Moving Target


    Beteiligte:
    Anh Duc Dang (Autor:in) / Joachim Horn (Autor:in)

    Erscheinungsdatum :

    2014-04-14


    Anmerkungen:

    oai:zenodo.org:2655709
    International Journal of Mechanical and Mechatronics Engineering 0.0(8)



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629






    Formation control and obstacle avoidance in swarm robots

    Shallal, Abidaoun Hamdan / Uçan, Osman Nuri / Bayat, Oğuz | BASE | 2018

    Freier Zugriff

    TARGET TRACK FORMATION DEVICE AND TARGET TRACK FORMATION METHOD

    HASHIMOTO SHINYA | Europäisches Patentamt | 2019

    Freier Zugriff

    Intelligent parking track formation control method

    YAN JUN / WANG YONGFEI / ZHANG JUHUA | Europäisches Patentamt | 2023

    Freier Zugriff