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

All Science Journal Classification (ASJC) codes

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

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