Browse > Article
http://dx.doi.org/10.5391/JKIIS.2012.22.4.476

Formation Control for Swarm Robots Using Artificial Potential Field  

Kim, Han-Sol (연세대학교 전기전자공학과)
Joo, Young-Hoon (군산대학교 제어로봇공학과)
Park, Jin-Bae (연세대학교 전기전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.4, 2012 , pp. 476-480 More about this Journal
Abstract
In this paper, artificial potential field(APF) is applied to formation control for the leader-following swarm robot. Furthermore, APF is constructed by applying the electrical field model. Moreover, to model the obstacle effectively, each obstacle has different form due to the electrical field equation. The proposed method is formed as two sub-objective: path planning for the leader-robot and following-robots following the leader-robot. Finally, simulation example is given to prove the validity of proposed method.
Keywords
Swarm robots; leader and following robot; formation control; artificial potential field; path planning;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
연도 인용수 순위
1 T. Balch and R. C. Arkin, "Behavior-based formation control for multi-robot teams," IEEE Trans. on Robotics and Automation, vol. 14, no. 6, pp. 926-939, 1998.   DOI
2 A. K. Das, R. Fierro, V. Kumar, B. Southall, J. Splezer, and C. J. Taylor, "Real-time vision-based control of a nonholonomic mobile robot," ICRA 2011, vol. 2, pp. 1714-1719, 2001.
3 T. H. Kar and M. A. Lewis, "Virtual structures for high-precision cooperative mobile robotic control," IROS 96, vol. 1, pp. 132-139, 1996.
4 M. C. Lee and M. G. Park, "Artificial potential field based path planning for mobile robots using a virtual obstacle concept," AIM 2003, vol. 2, pp. 735-740, 2003.
5 R. Daily and D. M. Bevly, "Harmonic potential field path planning for high speed vehicles," American Control Conference, pp. 4609-4614, 2008.
6 J. Ren and K. A. McIsaac, "A hybrid-systems approach to potential field navigation for a multi-robot team," Proc. of the IEEE Int. conf. Robot, Autom., pp. 3875-3880, 2003.
7 M. H. Tark and Y. H. Joo, "Behavior control algorithm for space search based on swarm robots," Korean Institute of Electrical Engineers, vol. 60, no. 11, pp. 2152-2156, 2011, 11.   과학기술학회마을   DOI
8 방문섭, 주영훈, "무게중심 보로노이 테셀레이션을 이용한 군집로봇의 협조탐색," 대한전기학회논문지, vol. 61, no. 1, pp. 130-134, 2012, 1.   과학기술학회마을   DOI
9 탁명환, 주영훈, "무선 센서 네트워크 기반 군집 로봇의 협조 행동을 위한 위치 측정," 제어로봇시스템학회논문지, vol. 18, no. 8, pp. 725-730, 2012, 8.   과학기술학회마을   DOI
10 탁명환, 주영훈, "군집 로봇 기반 공간 탐색을 위한 행동 제어 알고리즘," 대한전기학회논문지, vol. 60, no. 11, pp. 2152-2156, 2011, 11.   과학기술학회마을   DOI
11 라병호, 주영훈, "군집 로봇의 포메이션 이동 제어," 대한전기학회논문지, vol. 60, no. 11, pp. 2147-2151, 2011, 11.   과학기술학회마을   DOI