A proposed formation control algorithm for robot swarm based on adaptive fuzzy potential field method

Basma Gh Elkilany, A. A. Abouelsoud, Ahmed M.R. Fathelbab, Hiroyuki Ishii

研究成果

1 被引用数 (Scopus)

抄録

The main goal of robot swarm is to maintain formation among their members while avoiding obstacles and tracking a target in the surrounding environment. One popular approach for achieving this goal is the Potential Field Method (PFM). Thus, in this paper, we propose a formation control algorithm based on the PFM and Fuzzy Inference System (FIS). The Proposed PFM is intended to maintain formation, avoid obstacles and track a moving target as well. We add an interaction potential force to maintain formation beside the attractive and repulsive potential forces. Also, we use the FIS to adapt the change of the relative distances among robots in the swam and other entities int he environment. To test the scalability and reliability of the proposed formation control algorithm, simulations of robot swarms using MATLAB software with a different number of robots following different target trajectories in different environment setups are recorded. Results confirm the efficiency and the applicability the proposed formation control algorithm in achieving the three tasks of the robot swarm.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2189-2194
ページ数6
ISBN(電子版)9781509066841
DOI
出版ステータスPublished - 2018 12 26
イベント44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
継続期間: 2018 10 202018 10 23

出版物シリーズ

名前Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

Conference

Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
国/地域United States
CityWashington
Period18/10/2018/10/23

ASJC Scopus subject areas

  • エネルギー工学および電力技術
  • 電子工学および電気工学
  • 産業および生産工学
  • 制御と最適化

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