Decentralized control of autonomous swarm systems using artificial potential functions: Analytical design guidelines

被引：24

作者：

Kim, DH ^{[1
]}

Wang, HO ^{[1
]}

Ye, GH ^{[1
]}

Shin, SC ^{[1
]}

机构：

[1] Univ Tokyo, Course Math Engn & Informat Phys, Tokyo 1138656, Japan

来源：

2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5 | 2004年

关键词：

D O I：

10.1109/CDC.2004.1428623

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a framework for decentralized control of self-organizing swarm systems based on the artificial potential functions (APFs). In this scheme, multiple agents in a swarm self-organize to flock and achieve formation control through attractive and repulsive forces among themselves using Affs. In particular, this paper presents a set of analytical guidelines for designing potential functions to avoiding local minima for a number of representative scenarios. Specifically the following cases are addressed: 1) a case that the potential of the goal is overwhelmed by the potential of an obstacle, 2) a case that the potential of the obstacle is overwhelmed by the potential of the goal, 3) a case that the potential of the obstacle is overwhelmed by potential of other robots in a group formation and 4) a case that the potential of the robot in a formation is overwhelmed by potential of the goal.

引用

页码：159 / 164

页数：6

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