Multiple Mobile Robots Swarming Control Model Based on Stream Function
LU Jun1, GUAN Zhi-hong1, WANG Hua1,2
1. Center for Nonlinear and Complex Systems, Huazhong University of Science and Technology, Wuhan 430074, China; 2. Department of Aerospace and Mechanical Engineering, Boston University, USA
卢骏, 关治洪, 王华. 基于流函数的多移动机器人Swarming控制模型[J]. 机器人, 2006, 28(3): 264-268,274..
LU Jun, GUAN Zhi-hong, WANG Hua. Multiple Mobile Robots Swarming Control Model Based on Stream Function. ROBOT, 2006, 28(3): 264-268,274..
Abstract：The obstacle avoidance of a single mobile robot is solved by using stream function,and a multiple mobile robots swarming control model with a virtual leader and bintree structure is presented,which is based on stream function and singular association(SA) rule.The bintree structure based on SA rule makes it more flexible and simple to control the robots swarm.By introducing the virtual leader, the swarm wouldn't be separated during obstacle avoidance,and the situation that some robots drop behind can be solved very well.This improves the stability and flexibility of the system.Simulations are presented to demonstrate the validity of the model.
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