KIEE - The Transactions of the Korean Institute of Electrical Engineers

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The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

ISO Journal TitleTrans. Korean. Inst. Elect. Eng.

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Title	Formation Motion Control for Swarm Robots
Authors	라병호(La, Byoung-Ho) ; 김성호(Kim, Sung-Ho) ; 주영훈(Joo, Young-Hoon)
DOI	https://doi.org/10.5370/KIEE.2011.60.11.2147
Page	pp.2147-2151
ISSN	1975-8359
Keywords	Swarm robot ; Formation control ; Formation algorithm ; Obstacle avoidance
Abstract	In this paper, we propose the formation control algorithm for swarm robots. The proposed algorithm uses the artificial potential field(APF) to plan the global path of swarm robots and to control the formation movement. The navigation function generates a global APF for a leader robot to reach a given destination and an avoidance function generates a local APF for follow robots to avoid obstacles. Finally, some simulations show the validity of the proposed method.

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