Artificial moment method for swarm robot formation control

The purpose of this paper is to develop a general control method for swarm robot formation control. Firstly, an attraction-segment leader-follower formation graph is presented for formation representations. The model of swarm robot systems is described. According to the results and two kinds of artificial moments defined as leader-attraction moment and follower-attraction moment, a novel artificial moment method is proposed for swarm robot formation control. The principle of the method is introduced and the motion controller of robots is designed. Finally, the stability of the formation control system is proved. The simulations show that both the formation representation graph and the formation control method are valid and feasible.

[1]  Craig W. Reynolds.  Flocks, herds, and schools: a distributed behavioral model , 1998 .

[2]  Amit Kumar,et al.  Towards Decentralization of Multi-robot Navigation Functions , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[3]  W. Rugh.  Linear System Theory , 1992 .

[4]  Kar-Han Tan,et al.  High Precision Formation Control of Mobile Robots Using Virtual Structures , 1997, Auton. Robots.

[5]  Camillo J. Taylor,et al.  A vision-based formation control framework , 2002, IEEE Trans. Robotics Autom..

[6]  Jaydev P. Desai,et al.  A Graph Theoretic Approach for Modeling Mobile Robot Team Formations , 2002, J. Field Robotics.

[7]  Vijay Kumar,et al.  Formation control with configuration space constraints , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[8]  Richard M. Murray,et al.  DISTRIBUTED COOPERATIVE CONTROL OF MULTIPLE VEHICLE FORMATIONS USING STRUCTURAL POTENTIAL FUNCTIONS , 2002 .

[9]  Rafael Fierro,et al.  A modular architecture for formation control , 2002, Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02..

[10]  Wilson J. Rugh,et al.  Linear system theory (2nd ed.) , 1996 .

[11]  Paul Keng-Chieh Wang.  Navigation strategies for multiple autonomous mobile robots moving in formation , 1991, J. Field Robotics.

[12]  Sergio Monteiro,et al.  A dynamical systems approach to behavior-based formation control , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).