An Adaptive Pattern Formation Approach for Swarm Robots

GÜZEL M. S., Gezer E. C., Ajabshir V. B., BOSTANCI G. E.

4th International Conference on Electrical and Electronic Engineering (ICEEE), Ankara, Türkiye, 8 - 10 Nisan 2017, ss.194-198 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/iceee2.2017.7935818
  • Basıldığı Şehir: Ankara
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.194-198
  • Anahtar Kelimeler: swarm robots, adaptive pattern formation, navigation, circle formation
  • Ankara Üniversitesi Adresli: Evet

Özet

This paper addresses a new adaptive algorithm for pattern formation problem in swarm robotics. The swarm performs a circle formation behavior autonomously, regardless of the size of the swarm. This algorithm enables an adaptive behavior to allow the swarm to both prevent collision and compose a specific formation of robots in particularly cluttered environments. The formation algorithm is integrated into a decentralized navigation system and tested in a 3-D robotic simulator. The results are encouraging and motivate authors' to perform further research with this algorithm.