Virtual spring damper method for nonholonomic robotic swarm self-organization and leader following

Jakub Wiech; Victor Eremeev; Ivan Giorgio

doi:10.1007/s00161-018-0664-4

Virtual spring damper method for nonholonomic robotic swarm self-organization and leader following

Abstract

In this paper, we demonstrate a method for self-organization and leader following of nonholonomic robotic swarm based on spring damper mesh. By self-organization of swarm robots we mean the emergence of order in a swarm as the result of interactions among the single robots. In other words the self-organization of swarm robots mimics some natural behavior of social animals like ants among others. The dynamics of two-wheel robot is derived, and a relation between virtual forces and robot control inputs is defined in order to establish stable swarm formation. Two cases of swarm control are analyzed. In the first case the swarm cohesion is achieved by virtual spring damper mesh connecting nearest neighboring robots without designated leader. In the second case we introduce a swarm leader interacting with nearest and second neighbors allowing the swarm to follow the leader. The paper ends with numeric simulation for performance evaluation of the proposed control method.

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Authors (3)

Jakub Wiech
- Politechnika Rzeszowska Faculty of Mechanical Engineering and Aeronautics
Victor Eremeev prof. dr hab.
Ivan Giorgio Dr
- University of Rome La Sapienza, Rome, Italy Department of Mechanical and Aerospace Engineering

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Category:: Articles
Type:: artykuł w czasopiśmie wyróżnionym w JCR
Published in:: CONTINUUM MECHANICS AND THERMODYNAMICS no. 30, pages 1091 - 1102,
ISSN: 0935-1175
Language:: English
Publication year:: 2018
Bibliographic description:: Wiech J., Eremeev V., Giorgio I.: Virtual spring damper method for nonholonomic robotic swarm self-organization and leader following// CONTINUUM MECHANICS AND THERMODYNAMICS. -Vol. 30, iss. 5 (2018), s.1091-1102
DOI:: Digital Object Identifier (open in new tab) 10.1007/s00161-018-0664-4
Verified by:: Gdańsk University of Technology