Open AccessBehavior-Based Formation Control of Swarm Robots
Author(s) -
Dongdong Xu,
Xingnan Zhang,
Zhangqing Zhu,
Chunlin Chen,
Pei Yang
Publication year - 2014
Publication title -
mathematical problems in engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.262
H-Index - 62
eISSN - 1026-7077
pISSN - 1024-123X
DOI - 10.1155/2014/205759
Subject(s) - swarm robotics , swarm behaviour , robot , process (computing) , field (mathematics) , ant robotics , mobile robot , control (management) , robotics , computer science , control engineering , artificial intelligence , potential field , scale (ratio) , robot control , engineering , mathematics , physics , quantum mechanics , geophysics , pure mathematics , geology , operating system
Swarm robotics is a specific research field of multirobotics where a large number of mobile robots are controlled in a coordinated way. Formation control is one of the most challenging goals for the coordination control of swarm robots. In this paper, a behavior-based control design approach is proposed for two kinds of important formation control problems: efficient initial formation and formation control while avoiding obstacles. In this approach, a classification-based searching method for generating large-scale robot formation is presented to reduce the computational complexity and speed up the initial formation process for any desired formation. The behavior-based method is applied for the formation control of swarm robot systems while navigating in an unknown environment with obstacles. Several groups of experimental results demonstrate the success of the proposed approach. These methods have potential applications for various swarm robot systems in both the simulation and the practical environments
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