In this paper a decentralized control algorithm for swarm behavior and obstacle avoidance in unknown environment is presented. The proposed technique is based on the concept of Null Space Based behavioral approach to merge different swarm tasks. In particular, the algorithm focuses on the possibility of sharing sensors' data in order to avoid obstacles that can be detected in the environment. The effectiveness of our approach is investigated by means of numerical simulations with different typology of environment. The paper is organized as follows: in Section 2 the problem statement and the model of the robots are given; in Section 3 the control scheme is presented, with a brief introduction on Null-Space-Behavioral approach, and with particular attention to the obstacle avoidance problem. In Section 4 some simulation results that dimostrate the efficiency of the algorithm are presented.
A decentralized control algorithm for swarm behavior and obstacle avoidance in unknown environments
Ein dezentraler Regelungsalgorithmus für Schwarmverhalten und Hindernisvermeidung in unbekannten Umgebungen
2008
6 Seiten, 13 Bilder, 17 Quellen
Conference paper
English
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