Abstract
We consider an autonomous and decentralized mobile robotic swarm that does not require an advanced communication system; moreover, each robot must pass a narrow space preserving the distance with other robots. The control barrier function (CBF) method is useful for robotic swarms to guarantee collision avoidance. However, introducing CBF inequalities can cancel other objectives and sometimes causes a deadlock problem. Therefore, we introduce a coupled oscillator system to generate asymmetric global order by itself to avoid deadlock. By generating an effective global order in the swarm, each robot adequately moves to a target position without requiring high-cost communication systems.
Highlights
Several attempts have been made recently to control multi-mobile agent systems [1,2,3,4,5,6,7,8,9,10].For example, Cui et al performed formation control on underwater vehicles [1]
We introduce the deadlock problem due to control barrier function (CBF) and resolve it by generating an asymmetric global order with coupled oscillator system (COS)
We introduce an example of a deadlock problem due to CBF and propose a method to resolve it
Summary
Several attempts have been made recently to control multi-mobile agent systems [1,2,3,4,5,6,7,8,9,10]. To introduce CBF and avoid deadlock simultaneously, robots must communicate global information and move appropriately from a macroscopic perspective These tasks are not straightforward for a swarm system because they must not use centralized control and high-cost communication. The proposed method allows introducing CBF constraints for robotic swarms to avoid deadlock problems. The simulations confirm that the proposed method satisfies the following three requirements—separate constraint and task achievement in input determinants, guarantee to maintain a safe distance between robots, and guide the robots successfully. This method can be applied to robot systems that need to pass through narrow spaces in restricted situations in future. Rescue robots that operate in harsh environments, underwater exploration robots where high-speed communication is difficult
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