Network weight and time-varying potential function for obstacle avoidance of swarm robots in column formation
Network weight and time-varying potential function for obstacle avoidance of swarm robots in column formation
复制标题
群体机器人列队避障的网络权值和时变势函数
DOI：
10.1080/18824889.2022.2032542
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Kenji Sawada
中科院分区：
文献类型：
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作者：
Shotaro Shibahara;Takuma Wakasa;Kenji Sawada
提出了一种用于编队群机器人避障的网络权函数和时变势函数。我们考虑一个潜在的功能，其指数是机器人和障碍物之间的距离避障。当机器人在编队中躲避障碍物时，由于编队中的吸引力和躲避障碍物的排斥力之间的不平衡，机器人表现出振荡。此外，群体机器人可能会在大型障碍物面前变得停滞不前。为了解决这些问题，我们提出了两种方法。第一种方法是根据机器人之间的相对距离来削弱它们之间的连接强度。第二种方法是根据机器人与障碍物之间的相对角度来改变势函数的形状。数值算例表明，这些方法减小了机器人的摆动，缓解了障碍物前的停滞现象。
This paper proposes network weight functions and time-varying potential functions for obstacle avoidance of swarm robots in column formation. We consider a potential function whose exponent is the distance between the robots and the obstacle for obstacle avoidance. When a robot tries to avoid an obstacle while staying in a formation, it behaves oscillatory due to the imbalance between the attraction of staying in the formation and the repulsion of avoiding the obstacle. In addition, swarm robots may become stagnant in front of large obstacles. To solve these problems, we propose two methods. The first method is to weaken the strength of the connection between robots according to their relative distance. The second method is to change the shape of the potential function depending on the relative angle between the robot and the obstacle. Numerical examples show that these methods reduce the oscillatory of the robot and alleviate the stagnation in front of the obstacle.