Study On Control Strategy For Self-Organized Formation Of Swarm Robotics Systems

With the continuous development of science and technology,artificial intelligence has been a hot issue all over the world.Under the circumstances,the swarm robotics attracts the attentions of many experts and scholars.The swarm robot system is highly flexible and robust,however,the single robot would not be complexity.The swarm robot system is widely used and become a hot research topic in the world because of its advantages.In this thesis,we put forward a kind of strategy named "safety area" to complete the swarm robot formation control by using e-Puck in Webots.Firstly,the thesis describes the characters of swarm robot system and introduces the study methods and hot issues at home and abroad.It also analyzes the related intelligent optimization algorithm about the study of swarm robot system.On the basis of fully understanding the research background and related research methods of swarm robot system,the thesis analyzes the system characteristics of swarm robot system,and deeply understands its cooperative methods.The kinematics analyses of robot in swarm robot system by using e-Puck wheeled mobile robot will be shown in this thesis.It provides a way of move for single robot in swarm robot system.Secondly,the concept of safety area will be raised from the artificial potential field.It shows the single robot motion planning diagrams in robot system.Robot will build virtual potential function by the goal and other robotic locations.The potential function will help robot to find safety area and controls robotics movement.The behavior shown in robotic movement will be always "keep danger away from itself,and "get the goals".This will help them to form the regular shape.We get some limit conditions for single robot,such as boundary equation,to make it get position which is calculated from the environment to form a shape with other robots in the system.Finally,the thesis presents four specific algorithms steps of control tasks named"get goal","gather the robot","gather to be a circle" and "gather to be an L-shape"and does these experiments based on e-Puck robot and Webots to realize them.The experiments confirm the feasibility of these algorithms in controlling the swarm robotic formation.