Abstract
We present a method of Distributed Autonomous Formation Control of Mobile Robot Groups by Swarm-Based Pattern Generation. Each mobile robot, in our control method, changes its position to generate a group formation, measuring relative positions and relative orientations from its neighboring robots. The robot senses only its surrounding environment and there is no supervisor. The formation is controlled by Formation Vectors. Each robot has its own formation vector and the pattern of the formation vectors in the group determines the group formation. We use a Swarm-Based Pattern Generation Method to control the pattern. Specifically, the swarm-based pattern generation method solves second order differential equations with the Finite Element Method (FEM) in a distributed manner. A sinusoidal wave is one of the solutions of the equations, and the superimposition of the waves produces various patterns, as in the Fourier Series. Therefore, the swarm-based pattern generation method can make any pattern of the formation vectors, and the group formation is controllable. The validity of our method is verified by computer simulations.
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References
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© 1996 Springer Japan
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Yamaguchi, H., Beni, G. (1996). Distributed Autonomous Formation Control of Mobile Robot Groups by Swarm-Based Pattern Generation. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems 2. Springer, Tokyo. https://doi.org/10.1007/978-4-431-66942-5_14
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DOI: https://doi.org/10.1007/978-4-431-66942-5_14
Publisher Name: Springer, Tokyo
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