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http://dx.doi.org/10.7736/KSPE.2014.31.11.1023

Formation Control for Swarm Robot using Radius of Curvature  

Kang, Dong Woo (School of Mechanical Engineering, Pusan National University)
Song, Young Hun (School of Mechanical Engineering, Pusan National University)
Lee, Suk (School of Mechanical Engineering, Pusan National University)
Lee, Kyung Chang (Department of Control and Instrumentation Engineering, Pukyong National University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.31, no.11, 2014 , pp. 1023-1030 More about this Journal
Abstract
This paper presents a new method to control swarm robots so that they can keep the formation while following a curved path. The main idea is to utilize the information on the instant center of gyration. For a given path, location of the instant center of the formation center is calculated, and individual robots follow the circular path around the calculated instant center. Performance of curvature-radius based method is compared with leader-follower referenced method via MATLAB simulation.
Keywords
Swarm robot; Formation control; Radius of gyration; MATLAB; Simulation;
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Times Cited By KSCI : 3  (Citation Analysis)
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