Abstract
This paper proposes a collective movement control method based on both of an internal energy and a phase transition in thermodynamic model for swarm robots, which can move between obstacles with changing an aggregation suitable for arrangement of obstacles in an environment. Swarm robots shape a fixed aggregation by virtual attraction and repulsion forces based on the method, and follow a leader robot with keeping its shape. When the aggregation shape of swarm robots cannot keep to move through narrow spaces surrounded by obstacles, the swarm robots flexibly change the shape according to a shape of the environment based on a partial phase transition provided with directivities, and can continue to move. Simulation results show that swarm robots can move along to the path in an open space, and pass through narrow spaces surrounded by obstacles with changing the aggregation shape according to the environment.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
