Robotic swarm self-organisation control

• Autorzy: Hendzel Zenon , Wiech Jakub

Identyfikatory

DOI

10.2478/ama-2019-0018

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

swarm robotics self-organization; PD controller; nonholonomic robots

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2019
• Tom: Vol. 13, no. 2
• Strony: 130--134
• Opis fizyczny: Bibliogr. 20 poz.

Twórcy

autor

Hendzel Zenon

• Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and Robotics, Rzeszow University of Technology, al. Powstańców Warszawy 12, 35-959 Rzeszów, Poland

autor

Wiech Jakub

• Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and Robotics, Rzeszow University of Technology, al. Powstańców Warszawy 12, 35-959 Rzeszów, Poland

Bibliografia

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).