Decentralized Collaboration Control and Obstacle Avoidance for Swarm Robot

Tóm tắt

Nowadays, swarm robot is widely used in practice. Controlling the swarm robot is always a challenge for many researchers. In this paper,
the algorithm is proposed to control the swarm robot with three single mobile robots. The decentralized collaboration control is studied to
control the swarm robot to move to the target. The robots of swarm mobile robots can communicate together via the wifi protocol. The camera
and image processing are applied to localize the robots, determine the directions, and recognize the obstacles. The path-tracking algorithm is
employed to control the leader robot which allows the swarm robot can track the reference path asymptotically. In addition, the Limit Cycle
algorithm (LC) is proposed to control the swarm robot to avoid the obstacles on their way. Formation control based on leader-following is
used to control the swarm robot moving in different formations. Both simulation and experiment results are provided to prove the effectiveness of the proposed method.