Consensus-based obstacle avoidance for robotic swarm system with behavior-based control scheme

Ji Wook Kwon, Jin Hyo Kim, Jiwon Seo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper proposes the consensus algorithm for obstacle avoidance behavior of a robotic swarm system such that the orientations of all the robots are converged to consented value of them. In the previous robotic swarm algorithms based on a behavior based control has contended with obtaining the routes of the robots when accomplishing objectives such as aggregation, dispersion, or homing. In this paper, the robots move with smooth path by the proposed consensus algorithm. This advantage can lead to reduce the moving distance and the moving cost. Finally, simulation results are included to demonstrate the performance of the proposed algorithm for the robotic swarm system based on the behavior-based control with consensus algorithm for obstacle avoidance.

Original languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
PublisherIEEE Computer Society
Pages751-755
Number of pages5
ISBN (Electronic)9788993215069
DOIs
Publication statusPublished - 2014 Dec 16
Event2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of
Duration: 2014 Oct 222014 Oct 25

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
CountryKorea, Republic of
CityGyeonggi-do
Period14/10/2214/10/25

Fingerprint

Collision avoidance
Robotics
Robots
Agglomeration
Costs

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kwon, J. W., Kim, J. H., & Seo, J. (2014). Consensus-based obstacle avoidance for robotic swarm system with behavior-based control scheme. In International Conference on Control, Automation and Systems (pp. 751-755). [6987879] (International Conference on Control, Automation and Systems). IEEE Computer Society. https://doi.org/10.1109/ICCAS.2014.6987879
Kwon, Ji Wook ; Kim, Jin Hyo ; Seo, Jiwon. / Consensus-based obstacle avoidance for robotic swarm system with behavior-based control scheme. International Conference on Control, Automation and Systems. IEEE Computer Society, 2014. pp. 751-755 (International Conference on Control, Automation and Systems).
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Kwon, JW, Kim, JH & Seo, J 2014, Consensus-based obstacle avoidance for robotic swarm system with behavior-based control scheme. in International Conference on Control, Automation and Systems., 6987879, International Conference on Control, Automation and Systems, IEEE Computer Society, pp. 751-755, 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014, Gyeonggi-do, Korea, Republic of, 14/10/22. https://doi.org/10.1109/ICCAS.2014.6987879

Consensus-based obstacle avoidance for robotic swarm system with behavior-based control scheme. / Kwon, Ji Wook; Kim, Jin Hyo; Seo, Jiwon.

International Conference on Control, Automation and Systems. IEEE Computer Society, 2014. p. 751-755 6987879 (International Conference on Control, Automation and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This paper proposes the consensus algorithm for obstacle avoidance behavior of a robotic swarm system such that the orientations of all the robots are converged to consented value of them. In the previous robotic swarm algorithms based on a behavior based control has contended with obtaining the routes of the robots when accomplishing objectives such as aggregation, dispersion, or homing. In this paper, the robots move with smooth path by the proposed consensus algorithm. This advantage can lead to reduce the moving distance and the moving cost. Finally, simulation results are included to demonstrate the performance of the proposed algorithm for the robotic swarm system based on the behavior-based control with consensus algorithm for obstacle avoidance.

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Kwon JW, Kim JH, Seo J. Consensus-based obstacle avoidance for robotic swarm system with behavior-based control scheme. In International Conference on Control, Automation and Systems. IEEE Computer Society. 2014. p. 751-755. 6987879. (International Conference on Control, Automation and Systems). https://doi.org/10.1109/ICCAS.2014.6987879