RESEARCH PAPER
Robotic Swarm Self-Organisation Control
1
Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and Robotics, Rzeszow University of Technology, al. Powstańców Warszawy 12, 35-959 , Rzeszów, Poland
Submission date: 2018-06-26
Acceptance date: 2019-06-28
Online publication date: 2019-07-25
Publication date: 2019-06-01
Acta Mechanica et Automatica 2019;13(2):130-134
KEYWORDS
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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| eISSN: | 2300-5319 |
| ISSN: | 1898-4088 |
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