Application of Null Space Based Behavior Control to the Swarm Robot’s Control

• 作者: Le Hung Lan Le Thi Thuy Nga
• 来源期刊: 现代机械工程(英文)
• 学科: 数学
• 关键词: SWARM ROBOTS Avoid Obstacles NULL SPACE BASED BEHAVIOR
• 年，卷（期）: 2015,（3）
• 页码范围: 97-104
• 页数: 8页
• 分类号: O1

摘要

This paper proposes a solution to controls warm robots in an effort to avoid obstacles, moving to the goal by the method of Null Space based Behavior (NSB) control of an individual in the swarm. This paper also provides the stability analysis of the converging process by investigating the relationship between single agents, and the analysis result is proved by using the Lyapunov theory. Finally, the simulation results in two-dimensional space have confirmed the obtained theoretical results.