Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment
| Autor: | Daisuke Kurabayashi, Yuki Origane, Yuya Hattori |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Physics and Astronomy (miscellaneous) Computer science General Mathematics Computer Science::Neural and Evolutionary Computation Control (management) 02 engineering and technology Communications system 01 natural sciences 010305 fluids & plasmas Computer Science::Robotics 020901 industrial engineering & automation control barrier function Computer Science::Systems and Control obstacle region Control theory Position (vector) 0103 physical sciences Computer Science (miscellaneous) collision avoidance Collision avoidance robotic swarm lcsh:Mathematics ComputingMethodologies_MISCELLANEOUS Swarm behaviour Order by Deadlock lcsh:QA1-939 Computer Science::Multiagent Systems Chemistry (miscellaneous) coupled oscillator system Robot |
| Zdroj: | Symmetry Volume 13 Issue 3 Symmetry, Vol 13, Iss 478, p 478 (2021) |
| ISSN: | 2073-8994 |
| DOI: | 10.3390/sym13030478 |
| Popis: | We consider an autonomous and decentralized mobile robotic swarm that does not require an advanced communication system moreover, each robot must pass a narrow space preserving the distance with other robots. The control barrier function (CBF) method is useful for robotic swarms to guarantee collision avoidance. However, introducing CBF inequalities can cancel other objectives and sometimes causes a deadlock problem. Therefore, we introduce a coupled oscillator system to generate asymmetric global order by itself to avoid deadlock. By generating an effective global order in the swarm, each robot adequately moves to a target position without requiring high-cost communication systems. |
| Databáze: | OpenAIRE |
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