Robotic Swarm Self-Organisation Control

Zenon Hendzel; Jakub Wiech

doi:10.2478/ama-2019-0018

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Robotic Swarm Self-Organisation Control

Acta Mechanica et Automatica

Volume 13 (2019): Issue 2 (June 2019)

By: Zenon Hendzel and Jakub Wiech

Open Access

|Jul 2019

Abstract

This article proposes a new swarm control method using distributed proportional-derivative (PD) control for self-organisation of swarm of nonholonomic robots. Kinematics control with distributed proportional-derivative (DPD) controller enables generation of desired robot trajectory achieving collective behaviour of a robotic swarm such as aggregation and pattern formation. Proposed method is a generalisation of virtual spring-damper control used in swarm self-organisation. The article includes the control algorithm synthesis using the Lyapunov control theory and numeric simulations results.

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Articles in this issue

DOI: https://doi.org/10.2478/ama-2019-0018 | Journal eISSN: 2300-5319 | Journal ISSN: 1898-4088

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Language: English

Page range: 130 - 134

Submitted on: Jun 26, 2018

Accepted on: Jun 28, 2019

Published on: Jul 25, 2019

Published by: Bialystok University of Technology

In partnership with: Paradigm Publishing Services

Publication frequency: 4 issues per year

Keywords:

swarm robotics self-organization,

PD controller,

nonholonomic robots

Related subjects:

Engineering,

Electrical engineering,

Electronics,

Mechanical engineering,

Mechanics,

Bioengineering and biomedical engineering,

Biomechanics,

Civil engineering,

Environmental engineering

© 2019 Zenon Hendzel, Jakub Wiech, published by Bialystok University of Technology
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 13 (2019): Issue 2 (June 2019)