Group Control of Multiple Autonomous Mobile Robots based on Individual Interaction Force

S. Aso, S. Yokota, H. Hashimoto, Y. Ohyama, A. Sasaki, and H. Kobayashi (Japan)


Robotic Group, Interaction Force, Conditions Forming Group Structure, Omni-directional Mobile Robots


This paper proposes a control algorithm for a robotic group based on the individual interaction force. In order to be compatible with maintaining a whole group and advanc ing to the goal, the force; local forces and an advancing force which are produced by the algorithm, are applied to multiple autonomous mobile robots. Local forces such as an attraction and a repulsion, are applied to each robot for forming the local group. Overlapping each local group partially maintains the whole group. The advancing force is applied to each robot for advancing to the goal while maintaining the local group. The effectiveness of the pro posed algorithm is evaluated using a dynamics simulation. Twenty mobile robots are simulated as omni-directional mobile robots. As a result, it is found that the algorithm is able to maintain the whole group advancing to the goal in obstacle space.

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