Stable swarm formation control using onboard sensor information

Authors:
Viet-Hong Tran;Suk-Gyu Lee
Affiliations:
Department of Electrical Engineering, Yeungnam University, Gyeongsan, Korea;Department of Electrical Engineering, Yeungnam University, Gyeongsan, Korea
Venue:
ICSI'10 Proceedings of the First international conference on Advances in Swarm Intelligence - Volume Part II
Year:
2010

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Abstract

In this paper, a stable leader-following formation control for multiple mobile robot systems with limited sensor information is studied. The proposed algorithm is to control a robot (follower) to follow another robot (leader), and easily extended to form any complex formation. The control algorithm requires information available from onboard sensors only, and utilizes estimation of leader's acceleration in a simple form to reduce measurement of indirect information. There is also a rule to tune parameters of control in application.