Virtual Forces Based Approach for Target Capture with Swarm Robots
It discusses target capture principle and method that based on Virtual Forces with swarm robots, it also provides some performance metrics (such as stabilization time, layer number, distance between layers, robot number in a layer, distributing density and so on); Analyzing the relationship between the performance metrics with the robots number and the virtual force. Put forward the capture method that robot moves around the target, simulation results show that this method can solves the local minima problem, and greatly improves the capture speed and quality. We also design a physics robot experiment to verify capture method. At last, the directions of further research are proposed.
Swarm-robot Target Capture Virtual Force
XIONG Ju-feng TAN Guan-zheng
College of Information Science and Engineering, Central South University, Changsha 410083 College of College of Information Science and Engineering, Central South University, Changsha 410083
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
642-646
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）