Multi-task control of swarm robot with double integral model
Email:
lethuynga@utc.edu.vn
Từ khóa:
swarm robot, double integral model, multitask control, null space-based behavior.
Tóm tắt
Biological individuals in the wild often have a definite size and mass, so simulation of the real biological swarm behavior should take these factors into account. The article focuses on building an algorithm to calculate the force acting on each individual robot in the swarm based on their mass through the “Double integral” model. When the robots are required to perform multi-tasks simultaneously, the priority order of tasks must be classified, and the task with lower priority will be projected into the Null space of the higher priority tasks. Each individual robot in the swarm has to fulfill following three tasks: avoid obstacles, move to the goal, maintain the swarm. In this study, the author chooses the priority level in the following order: avoiding obstacles, moving to the goal and finally maintaining the swarm. With an assumption that the obstacles are fixed and known in advance. Finally, the theoretical studies are simulated and verified by Matlab software.Tài liệu tham khảo
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[6]. Le Thi Thuy Nga, Le Hung Lan, Control Swarm Robots Foraging and Obstacle Avoidance Using Fuzzy Logic, Transport and Communications Science Journal, 3 (2014) 15-20.
[7]. Le Thi Thuy Nga, Nguyen Van Binh, Le Hung Lan, Stabilizing the Flexible Convergence of Swarm Robot by Fuzzy Attraction and Repulsion, Control Engineering and Applied Informatics, 4 (2022) 58-66.
[8]. Nga Le Thi Thuy, Thang Nguyen Trong, The Multitasking System of Swarm Robot based on
Null-Space-Behavioral Control Combined with Fuzzy Logic, Micromachines, 8 (2017) 1-16, https://doi.org/10.3390/mi8120357
[9]. Anh Duc Dang, Joachim Horn, Formation Control of Leader Following UAVs to Track a Moving Target in a Dynamic Environment, Journal of Automation and Control Engineering, 1 (2015) 1-8. https://doi.org/10.12720/joace.3.1.1-8
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[11]. Y. Liu, K. M. Passino, Stability Analysis of Swarms in a Noisy Environment, Proceedings of the 42nd IEEE International Conference on Decision and Control, 2003, pp.3573-3578. https://doi.org/10.1109/CDC.2003.1271702
[2]. L. Wang, H. Fang, Stability Analysis of Practical Anisotropic Swarms, International Conference on Control Automation Robotics & Vision, 2011, IEEE, Singapore, pp.768-772, https://doi.org/10.1109/ICARCV.2010.5707423
[3]. Z. Xue, J. Zeng, C. Feng, Z. Liu, Swarm Target Tracking Collective Behavior Control with Formation Coverage Search Agents & Globally Asymptotically Stable Analysis of Stochastic Swarm, Journal of Computers, 8 (2011) 1772-1780. https://doi.org/10.4304/jcp.6.8.1772-1780
[4]. Miswanto, I. Pranoto, H. Muhammad, D. Mahayana, The Collective Behaviour of Multi-Agents System for Tracking a Desired Path, International Journal of Basic & Applied Sciences, 1 (2011) 81-86.
[5]. Le Thi Thuy Nga, Le Hung Lan, Analysis of stability swarm determination of the swarm robot using the function fuzzy suck/push, Transport and Communications Science Journal, 10 (2013) 88-93.
[6]. Le Thi Thuy Nga, Le Hung Lan, Control Swarm Robots Foraging and Obstacle Avoidance Using Fuzzy Logic, Transport and Communications Science Journal, 3 (2014) 15-20.
[7]. Le Thi Thuy Nga, Nguyen Van Binh, Le Hung Lan, Stabilizing the Flexible Convergence of Swarm Robot by Fuzzy Attraction and Repulsion, Control Engineering and Applied Informatics, 4 (2022) 58-66.
[8]. Nga Le Thi Thuy, Thang Nguyen Trong, The Multitasking System of Swarm Robot based on
Null-Space-Behavioral Control Combined with Fuzzy Logic, Micromachines, 8 (2017) 1-16, https://doi.org/10.3390/mi8120357
[9]. Anh Duc Dang, Joachim Horn, Formation Control of Leader Following UAVs to Track a Moving Target in a Dynamic Environment, Journal of Automation and Control Engineering, 1 (2015) 1-8. https://doi.org/10.12720/joace.3.1.1-8
[10]. H. G. Tanner, A. Jadbabaie, G. J. Pappas, Stable Flocking of Mobile Agents, Part I: Fixed Topology, Proceedings of the 42nd IEEE Conference on Decision and Control, 2003, IEEE, USA, pp. 2010-2015. https://doi.org/10.1109/CDC.2003.1272910
[11]. Y. Liu, K. M. Passino, Stability Analysis of Swarms in a Noisy Environment, Proceedings of the 42nd IEEE International Conference on Decision and Control, 2003, pp.3573-3578. https://doi.org/10.1109/CDC.2003.1271702
Tải xuống
Chưa có dữ liệu thống kê
Nhận bài
22/02/2023
Nhận bài sửa
31/03/2023
Chấp nhận đăng
12/04/2023
Xuất bản
15/05/2023
Chuyên mục
Công trình khoa học
Kiểu trích dẫn
Le Thi Thuy, N., Nguyen Thanh, H., Nguyen Van, T., & Pham Xuan, T. (1684083600). Multi-task control of swarm robot with double integral model . Tạp Chí Khoa Học Giao Thông Vận Tải, 74(4), 519-529. https://doi.org/10.47869/tcsj.74.4.11
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