Multilevel-based topology design and shape control of robot swarms
Multilevel-based topology design and shape control of robot swarms
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DOI：
10.1016/j.automatica.2012.08.019
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发表时间：
2012-12
期刊：
影响因子：
--
通讯作者：
Xiao Yan;Jing Chen;Dong Sun
中科院分区：
文献类型：
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作者：
Xiao Yan;Jing Chen;Dong Sun
本文研究了一组移动到指定区域的同构移动的机器人的拓扑设计和形状控制问题。提出了一种基于多层结构的群机器人拓扑表示方法，用于表示期望区域内不同形状的群机器人。基于势函数的控制器，包括一个新的形状调节控制力，被开发用于控制机器人形成所需的编队形状。形状调节控制力用于解决局部极小值问题，导致机器人卡在不希望的位置。利用李雅普诺夫方法分析了被控系统的稳定性。最后，通过仿真和实验验证了该方法的有效性.
The current paper investigates the topology design and shape control of a group of homogeneous mobile robots moving into a desired region. A new topology method, designed based on a multilevel structure, is employed to present different shapes of swarm robots in the desired region. A potential function-based controller, including a new shape regulation control force, is developed to control the robots in forming the desired formation shape. The shape regulation control force is used to address the local minima problem that causes the robots to get stuck at undesired positions. A Lyapunov approach is utilized to analyze the stability of the controlled system. Finally, simulations and experiments are performed to demonstrate the effectiveness of the proposed approach.