Formation Control for Swarm Robots Using Artificial Potential Field

Kim, Hansol; Joo, Young-Hoon; Park, Jin-Bae

doi:10.5391/jkiis.2012.22.4.476

Cited by 5 publications

(1 citation statement)

References 3 publications

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“…이러한 군 집 로봇 시스템의 기술은 군집 행동제어 기술, 군집 상황인 지 기술, 군집 네트워킹 기술, 군집 시스템통합 기술 등 크 게 4부분으로 분류될 수 있으며 [15][16][17][18][19], 본 연구에서는 군집 행동 제어 기술에서 감시 영역의 침입자 포위 행동 제어에 대해 기술하고자 한다.…”

Section: 최근 다수의 로봇(이하 군집 로봇)을 이용한 연구 개발 이 활발히 진행되고 있다 군집 로봇은 단일 로봇unclassified

Asynchronous Behavior Control Algorithm of the Swarm Robot for Surrounding Intruders

Kim¹,

Joo²

2012

Journal of Institute of Control, Robotics and Systems

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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

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Section: 최근 다수의 로봇(이하 군집 로봇)을 이용한 연구 개발 이 활발히 진행되고 있다 군집 로봇은 단일 로봇unclassified

Asynchronous Behavior Control Algorithm of the Swarm Robot for Surrounding Intruders

Kim¹,

Joo²

2012

Journal of Institute of Control, Robotics and Systems

Self Cite

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Behavior Control Algorithm of Swarm Robots to Maintain Network Connectivity

Kim¹,

Jeong²,

Ji³

et al. 2013

Journal of Institute of Control, Robotics and Systems

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In swarm robot systems, it is vital to maintain network connectivity to ensure cooperative behavior between robots. This paper deals with the behavior control algorithm of the swarm robots for maintaining network connectivity. To do this, we divide swarm robots into search-robots, base-robots, and relay-robots. Using these robots, we propose behavior control algorithm to maintain network connectivity. The behavior control algorithms to maintain network connectivity are proposed for the local path planning using virtual force and global path planning using the Delaunay triangulation, respectively. Finally, we demonstrate the effectiveness and applicability of the proposed method through some simulations.

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