Earticle

초록

영어

In this paper, a self-organizing method, which is based on a simplified virtual-force model, is proposed for nonholonomic mobile swarm robots hunting in unknown environments. First, the motion models for the hunted target in unknown cluttered environments are designed. Next, through the decomposition of hunting behaviors under cluttered environments, a simplified virtual-force model is formed. Then, based on the virtual-force model, a control method is designed for swarm robots following motions of barriers and the target. The method only needs the location information of the target and two nearest neighbors, so it is easy to be calculated and realized. After that, the stability of the hunting system is analyzed and the control parameter ranges are achieved. Simulation results for different situations and comparative analyses demonstrate that the proposed hunting method has good performance of obstacles avoidance and flexibility.

목차

Abstract
 1. Introduction
 2. Model formation
  2.1. Robots Motion Model and Related Functions
  2.2. Hunting Task Model
 3. Hunting Algorithm
  3.1. SVF-Model
  3.2. Individual Control Inputs Design based on SVF-Model
  3.3. Hunting Algorithm Steps
 4. Stability Analysis
  4.1. Theorem 1
  4.2. Theorem 2
  4.3. Theorem 3
  4.4. Theorem 4
  4.5. Special Case 1
  4.6. Special Case 2
  4.7. Special Case 3
 5. Simulations
  5.1. Simulations and Analyses in a No Obstacles Environmen
  5.2. Simulation and Analyses for an Unknown Complex Environment with Dynamic Deforming Obstacles
 6. The Comparative Analyses between SVF-Model and LP-Rule
  6.1. Simple Model
  6.2. Hunting Success in Special Situations
  6.3. No Theoretical Defects
  6.4. Good Capacity of Obstacle Avoidance
  6.5. Reasonable Speed Setting
  6.6. Considering the Actual Physics Size of Robots
  6.7. System Stability Theorems are Beneficial for the System Parameters Settings
 7. Conclusion
 References

키워드

저자

• Hongqiang Zhang [ College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, 410082, China, College of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, Hunan, 411201, China ]
• Jing Zhang [ College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, 410082, China ]
• Shaowu Zhou [ College of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, Hunan, 411201, China ]
• Puren Ouyang [ Department of Aerospace Engineering, Ryerson University, Toronto, Ontario, M5B2K3, Canada, College of Mechanical and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, Hunan, 411201,China ]
• Lianghong Wu [ College of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, Hunan, 411201, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605