Regular Topology Formation Based on Artificial Forces for Distributed Mobile Robotic Networks

Abstract

The distributed mobile robotic network consists of a group of mobile nodes, such as mobile sensors, unmanned vehicles, unmanned submarines, unmanned air vehicles, or mobile robots. The mobile robotic network keeping a regular topology can utilize efficient network protocols and is also promising in many application scenarios. We propose a distributed algorithm that controls multiple distributed robotic nodes to form regular topology, including straight line, ring, triangular lattice, and square lattice. Our algorithm generates artificial forces, including the attractive force towards a reference point to gather the distributed nodes, the repulsive force from neighboring nodes to keep the desirable distance among them, the formation force to form a specific shape, and the obstacle avoidance force to avoid possible obstacles, such that each node simply follows the resultant force to move. The algorithm works in a fully distributed manner, converges fast, and is easy to deploy, requiring only one-hop local network geometry information. And, it is effective under both 2D and 3D scenarios. A computer demo is developed to demonstrate the effectiveness of the algorithm for large numbers of robotic nodes.