Formation control of robot swarm with implicit leaders

Jiali Cai; Yuhong Shi; Lijuan Cai

doi:10.1117/12.2656675

20 October 2022 Formation control of robot swarm with implicit leaders

Jiali Cai, Yuhong Shi, Lijuan Cai

Proceedings Volume 12451, 5th International Conference on Computer Information Science and Application Technology (CISAT 2022); 124515C (2022) https://doi.org/10.1117/12.2656675
Event: 5th International Conference on Computer Information Science and Application Technology (CISAT 2022), 2022, Chongqing, China

Abstract

This paper mainly studies the motion consensus and formation control of robot swarm, and designs a new formation control and trajectory tracking algorithm based on artificial potential field method and implicit leaders. The algorithm can control the swarm to approach the desired formation and realize collision avoidance between robots. By "implicitly" integrating the leaders into the swarm, the proposed algorithm can not only guarantee a swarm of robots to move along predefined formation and track scheduled trajectory with certain velocity, dynamic leader reassignment is also realized, thus enhancing the adaptability and expansibility of the swarm. Numerical simulation results verify the correctness of the theoretical analysis and the effectiveness of the algorithm.

Citation Download Citation

Jiali Cai, Yuhong Shi, and Lijuan Cai "Formation control of robot swarm with implicit leaders", Proc. SPIE 12451, 5th International Conference on Computer Information Science and Application Technology (CISAT 2022), 124515C (20 October 2022); https://doi.org/10.1117/12.2656675

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