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http://dx.doi.org/10.5302/J.ICROS.2012.18.9.812

Asynchronous Behavior Control Algorithm of the Swarm Robot for Surrounding Intruders  

Kim, Jong-Seon (Kunsan National University)
Joo, Young-Hoon (Kunsan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.9, 2012 , pp. 812-818 More about this Journal
Abstract
In this paper, we propose an asynchronous behavior control algorithm of the swarm robot for surrounding intruders when detected an intruder in a surveillance environment. The proposed method is divided into three parts: First, we proposed the method for the modeling of a state of the swarm robot. Second, we proposed an asynchronous behavior control algorithm for the surrounding an intruder by the swarm robot. Third, we proposed a control method for the collision avoidance with the swarm robot. Finally, we show the effectiveness and feasibility of the proposed method through some experiments.
Keywords
swarm robots; behavior control; fuzzy control; collision avoidance; surrounding formation;
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Times Cited By KSCI : 6  (Citation Analysis)
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