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http://dx.doi.org/10.5370/KIEE.2011.60.11.2147

Formation Motion Control for Swarm Robots  

La, Byoung-Ho (군산대학교 제어로봇공학과)
Kim, Sung-Ho (군산대학교 제어로봇공학과)
Joo, Young-Hoon (군산대학교 제어로봇공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.60, no.11, 2011 , pp. 2147-2151 More about this Journal
Abstract
In this paper, we propose the formation control algorithm for swarm robots. The proposed algorithm uses the artificial potential field(APF) to plan the global path of swarm robots and to control the formation movement. The navigation function generates a global APF for a leader robot to reach a given destination and an avoidance function generates a local APF for follow robots to avoid obstacles. Finally, some simulations show the validity of the proposed method.
Keywords
Swarm robot; Formation control; Formation algorithm; Obstacle avoidance;
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