DocumentCode :
2838152
Title :
Virtual Forces based approach for target capture with swarm robots
Author :
Xiong Ju-Feng ; Tan Guan-Zheng
Author_Institution :
Coll. of Inf. Sci. & Eng., Central South Univ., Changsha, China
fYear :
2009
fDate :
17-19 June 2009
Firstpage :
642
Lastpage :
646
Abstract :
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.
Keywords :
mobile robots; multi-robot systems; stability; layer number; stabilization time; swarm robots; target capture; virtual forces; Approximation algorithms; Educational institutions; Information analysis; Information science; Measurement; Performance analysis; Physics; Robot sensing systems; Shape; Strontium; Swarm-robot; Target Capture; Virtual Force;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
Type :
conf
DOI :
10.1109/CCDC.2009.5194887
Filename :
5194887
Link To Document :
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