A study of cluster robots line formatted navigation using potential field method

Abstract

Instead of single mobile robot, multi mobile robots can perform complex tasks with simple robot system and algorithm. But multi mobile robots face much more complex driving problem than singular driving. To solve the problem, in this study, driving algorithm based on the energy method is applied to the individual robot in a group. This makes a cluster be in a formation automatically and suggests a cluster the automatic driving method so that they stably arrive at the target. The Energy method mentioned above is applying attractive force and repulsive force to a special target, other robots or obstacles. This creates the potential energy, and the robot is controlled to drive in the direction of decreasing energy, which basically satisfies Lyapunov function. Through this method, a cluster robot is able to create a formation and stably arrives at its target. Also, it makes the algorithm stabilized by applying the data's average which involves environment to Lyapunov function. In the meantime, it successfully overcomes the problems such as errors for recognizing environment and weak performance of sensor. Since it uses information only on comparative distance and degree among objects, driving algorithm is very simple, and processor is speedy due to small amount of calculation.