English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Coordinated motion control in swarm robotics aims to ensure the coherence ofmembers in space, i.e., the robots in a swarm perform coordinated movements tomaintain spatial structures. This problem can be modeled as a tracking controlproblem, in which individuals in the swarm follow a target position with theconsideration of specific relative distance or orientations. To keep thecommunication cost low, the PID controller can be utilized to achieve theleader-follower tracking control task without the information of leadervelocities. However, the controller's parameters need to be optimized to adaptto situations changing, such as the different swarm population, the changing ofthe target to be followed, and the anti-collision demands, etc. In this letter,we apply a modified Brain Storm Optimization (BSO) algorithm to an incrementalPID tracking controller to get the relatively optimal parameters adaptively forleader-follower formation control for swarm robotics. Simulation results showthat the proposed method could reach the optimal parameters during robotmovements. The flexibility and scalability are also validated, which ensuresthat the proposed method can adapt to different situations and be a goodcandidate for coordinated motion control for swarm robotics in more realisticscenarios.

Adaptive Coordinated Motion Control for Swarm Robotics Based on Brain Storm Optimization