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http://dx.doi.org/10.5370/KIEE.2014.63.10.1428

Formation Control Algorithm for Swarm Robots Using Virtual Force  

Tak, Myung Hwan (Dept. of Control and Robotics Engineering, Kunsan National University)
Joo, Young Hoon (Dept. of Control and Robotics Engineering, Kunsan National University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.63, no.10, 2014 , pp. 1428-1433 More about this Journal
Abstract
In this paper, we propose the formation control algorithm using the leader-following robots in given space. The proposed method is as follows: First, we plan a path of the leader robot for the obstacle avoidance. After that, we propose the formation control algorithm of the following robots using the position and the orientation angle of the leader robot. Also, we propose method for adjusting the formation of the swarm robots when the following robots detect an obstacles. Finally, we show the effectiveness and feasibility of the proposed method though some simulations.
Keywords
Swarm robots; Virtual force; Formation control; Behavior control; Cooperative behavior; Leader-following; Attractive force; Repulsive force;
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Times Cited By KSCI : 8  (Citation Analysis)
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