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.


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    Title :

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


    Contributors:
    Anh Duc Dang (author) / Joachim Horn (author)

    Publication date :

    2014-04-14


    Remarks:

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



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629






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