NDLI: Formation adaptation control of autonomous robots in a dynamic environment

Content Provider	IEEE Xplore Digital Library
Author	Anh Duc Dang Joachim Horn
Copyright Year	2015
Description	Author affiliation: Inst. of Control Eng., Helmut Schmidt Univ., Hamburg, Germany (Anh Duc Dang; Joachim Horn)
Abstract	This paper presents a novel approach for the adaptive formation control of multi-agent systems to track a moving target in a dynamic environment. In this approach, while the swarm reaches the target position, if it detects obstacles on the way, its size will change in order to avoid these obstacles. In special cases, such as when the space between the obstacles is narrow, then the formation of the robots will automatically shrink into a smaller size. Hence, the swarm can easily pass through this space, while the swarm's connection is maintained. However, to avoid collisions among the robots, the swarm's size can only reduce to a minimum desired size. If the swarm's size is smaller than this minimum size, the swarm's structure will be broken, and then the robots become free to avoid obstacles. In order to handle these problems, the adaptive formation control algorithm is built based on the change of the desired distance between the neighboring robots. This desired distance depends on the sum of the repulsive forces from obstacles to the swarm. The effectiveness of the proposed approach has been verified in simulations.
Starting Page	3190
Ending Page	3195
File Size	412317
Page Count	6
File Format	PDF
ISBN	9781479978007
DOI	10.1109/ICIT.2015.7125569
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-03-17
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Collision avoidance Force Target tracking Adaptive control Aerospace electronics Damping multi-agent systems Formation control obstacle avoidance potential field swarm intelligence
Content Type	Text
Resource Type	Article

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