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Robotic swarm self-organisation control

Hendzel Zenon, Wiech Jakub

Acta Mechanica et Automatica

2019

Vol. 13, no. 2

130--134

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.

Very fast algorithm for nonholonomic optimal path planning and replanning, generalities and details

Podsędkowski L.

Archives of Control Sciences

2001

Vol. 11, no. 1/2

91-117

This paper presents an original method for nonholonomic mobile robot path planning. The method is based on A* searching of a graph built in a configuration space. Very good heuristic approximation of the real cost of the path accelerates path searching significantly. Due to dynamic modifications of the graph, the path replanning procedure is much faster than brute-force replanner. The paper presents general assumptions of the method, detailed algorithms of important procedures (especially the path replanning procedure) and a new form of configuration space and open list. The simulation and experimental tests on car-like robot as well as the comparisons of this method to the others are also included.