Aggregation and leader following control of swarm robots: experimental results

Target tracking with a group of autonomous robots is ofgreat importance in recent years. In this paper the controlof a swarm robots in the aggregation and leader followingmissions has been considered. The swarm obey a thirdorder dynamics and the control strategy is based on thepotential function and sliding mode control theory. Eachrobot’s sensor measures the relative distance and angle ofothers with respect to itself. These measurements havebeen used in the control law to calculate the velocities ofthe wheels of robots. The simulations and experimentalresults show the efficiency of the control strategy.

کلیدواژه ها:

swarm robots ، potential function ، slidingmode control ، aggregation ، leader following