Flocking for nonholonomic robots with obstacle avoidance

Burohman, Azka Muji; Widyotriatmo, Augie; Joelianto, Endra

doi:10.1109/elecsym.2016.7861029

Cited by 10 publications

(6 citation statements)

References 9 publications

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“…It is desired that a swarm robot is initiated with a starting state from cluttered velocities and positions, such as in flocking [3]- [6]. However, since the present approach involves the solid and liquid phases of thermodynamics, the initial shape is already aggregated and is a hexagonal-lattice shape of the most stable structure.…”

Section: Swarm Definition and Preliminariesmentioning

confidence: 99%

“…To achieve this goal, [7]- [9] proposed collective movement that flexibly adapts to the environment by applying dynamics systems, such as fluid dynamics and analytical mechanics. These methods are similar to the approach presented in [6]. In all of these methods, it is necessary to know in advance the global environment information, such as the goal point and/or obstacle points.…”

Section: Introductionmentioning

confidence: 99%

“…These control methods enable collective movement at a constant velocity in a certain direction; however, they do not address obstacle avoidance. The study in [6], on the other hand, considered obstacle avoidance. Obstacle avoidance and movement to a target in cooperation with other agents using the potential functions of aggregation, obstacle avoidance, and trajectory were achieved.…”

Section: Introductionmentioning

confidence: 99%

“…In recent years, many studies of multi-robot system flocking have employed cooperative control, whereby numerous agents given random velocity vectors produce a common motion by setting the acceleration to zero and the velocity vector to a constant other than zero [3]- [6]. To enable this control, [3], [4] achieved the convergence of all agents to motion of a virtual agent (virtual leader) using the dynamic pinning control algorithm (DPCA).…”

Section: Introductionmentioning

confidence: 99%

“…Flocking motion respectively using MPC [5] and the potential function [6], as well as collective movement applied to a dynamics model [7]- [9], are distributed control methods that produce common actions or movement to a known target point based on global information. Consequently, it is difficult for an operator to freely control the swarm in real time.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Collective Movement Method for Swarm Robot based on a Thermodynamic Model

Yamagishi¹,

Suzuki²

2017

ijacsa

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Abstract-In this paper, a distributed collective movement control method is proposed for a swarm robotics system based on an internal energy thermodynamic model. The system can move between obstacles with a changing aggregation suitable for confronting obstacle arrangements in an environment. The swarm robot shape is a fixed aggregation formed by virtual attraction and repulsion forces based on the proposed method. It follows a leader agent while retaining its shape. When the swarm robot aggregation shape cannot be maintained during movement though narrow spaces with obstacles, the swarm robot flexibly changes shape according to that of the local environment. To this end, it employs virtual thermal motion, which is made possible with directives and enables continuous movement. A simulation confirmed the capability of the proposed method in enabling the solidity and flexibility collective movement of swarm robots. The results furthermore showed that the parameter setting range is important for applying the proposed method to collective movement.

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Section: Swarm Definition and Preliminariesmentioning

confidence: 99%