Artificial moment method for swarm robot formation control  

作　　者：XU WangBao CHEN XueBo 

机构地区：[1]School of Electronics and Information Engineering, Liaoning University of Science and Technology, Anshan 114051, China

出　　处：《Science in China(Series F)》2008年第10期1521-1531,共11页中国科学（F辑英文版）

基　　金：the National Natural Science Foundation of China (Grant No.60574010);Programs for Liaoning Excellent Talents (Grant No.2006R31);for Liaoning Innovation Group In University (Grant No.2007T082);State Key Laboratory of Robotics and System (HIT)

摘　　要：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.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.

关 键 词：swarm robot systems formation control artificial moment method STABILITY 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]