Nonlinear Tracking Control of Robotic Swarm

In this paper first we present an analytical study of swarm motion in a quasi static environment, in which, motion of each member is being affected by interactive forces and an agent. Interactive effects on each member could be attractive or repulsive due to being far from or close to other members respectively. The method is based on Lyapunov analysis. The aim is to preserve the unity of swarm, i.e. not losing any member through motion, while being under influence of an agent. Then using the agent we introduce a Lyapunov control method to coordinate the swarm. It is also considered that field of view of all members is limited, i.e. even the agent accesses its local information; which is the most important characteristic of this work.

کلیدواژه ها:

Swarm coordination ، limited field of view ، Lyapunov control method