Abstract
In this paper, a distributed collective movement control method is proposed for a swarm robotics system based on an internal energy thermodynamic model. The system can move between obstacles with a changing aggregation suitable for confronting obstacle arrangements in an environment. The swarm robot shape is a fixed aggregation formed by virtual attraction and repulsion forces based on the proposed method. It follows a leader agent while retaining its shape. When the swarm robot aggregation shape cannot be maintained during movement though narrow spaces with obstacles, the swarm robot flexibly changes shape according to that of the local environment. To this end, it employs virtual thermal motion, which is made possible with directives and enables continuous movement. A simulation confirmed the capability of the proposed method in enabling the solidity and flexibility collective movement of swarm robots. The results furthermore showed that the parameter setting range is important for applying the proposed method to collective movement.
Highlights
Swarm robotics systems implement swarm intelligence in multi-robot systems
Based on the thermodynamic model, we propose a collective movement method for the swarm robotics system that provides solidity and flexibility in the solid and liquid phases
When the Lennard–Jones potential in (5) operates between two agents, the convergence point is the center value of the distance between them. This does not serve as an interaction to enable collective movement; it is an important function in thermodynamics and it is necessary to retain it
Summary
Swarm robotics systems implement swarm intelligence in multi-robot systems. These systems are thereby suitable for cooperative and parallel tasks and are expected to have applications in real-world tasks, such as object transportation and environment exploration. Considering the environment with obstacles, the study provides control to move a changing or maintained aggregation shape in accordance with the environment [7]-[11] To achieve this goal, [7]-[9] proposed collective movement that flexibly adapts to the environment by applying dynamics systems, such as fluid dynamics and analytical mechanics. We propose a collective movement method for distributed control that compensates the limitations of the respective dynamics and formation control model To realize this objective, our approach is based on the microscopic www.ijacsa.thesai.org (IJACSA) International Journal of Advanced Computer Science and Applications, Vol 8, No 11, 2017 viewpoint of thermodynamics and deals with quantitative states, including solid, liquid, and gas.
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