摘要
The purpose of this paper is to develop a general control method for swarm robot formation control. Firstly, an attraction-segment leader-follower formation graph is presented for formation representations. The model of swarm robot systems is described. According to the results and two kinds of artificial moments defined as leader-attraction moment and follower-attraction moment, a novel artificial moment method is proposed for swarm robot formation control. The principle of the method is introduced and the motion controller of robots is designed. Finally, the stability of the formation control system is proved. The simulations show that both the formation representation graph and the formation control method are valid and feasible.
The purpose of this paper is to develop a general control method for swarm robot formation control. Firstly, an attraction-segment leader-follower formation graph is presented for formation representations. The model of swarm robot systems is described. According to the results and two kinds of artificial moments defined as leader-attraction moment and follower-attraction moment, a novel artificial moment method is proposed for swarm robot formation control. The principle of the method is introduced and the motion controller of robots is designed. Finally, the stability of the formation control system is proved. The simulations show that both the formation representation graph and the formation control method are valid and feasible.
基金
the National Natural Science Foundation of China (Grant No.60574010)
Programs for Liaoning Excellent Talents (Grant No.2006R31)
for Liaoning Innovation Group In University (Grant No.2007T082)
State Key Laboratory of Robotics and System (HIT)
