Research on the Key Issues of Emotion Expressing Behavior of Multiple Aerial Robots

On the basis of the LMA based trajectory chain generating method, which can autonomously design certain trajectory chains for emotion expression, an emotional expressing strategy based on formation changes is mentioned after the formation factor is included in emotional expressing. Then, a synchronization method based on music characteristics is raised according to the synchronization issues of multiple aerial robots’ dancing. Taking the swing movement tracking beats as an example, the beat signal is regarded as reference signal of swing movement and the error of phase and amplitude is rectified according to phase comparator and regulated algorithm. Emotional expressing experiments based on movement trajectory and synchronization experiments based on music beat signal are conducted on the aerial robots’ platform and the validity of the method is proved.