Multi-task control of swarm robot with double integral model

Abstract

Biological individuals in the wild often have a definite size and mass, so simulation of the real biological swarm behavior should take these factors into account. The article focuses on building an algorithm to calculate the force acting on each individual robot in the swarm based on their mass through the “Double integral” model. When the robots are required to perform multi-tasks simultaneously, the priority order of tasks must be classified, and the task with lower priority will be projected into the Null space of the higher priority tasks. Each individual robot in the swarm has to fulfill following three tasks: avoid obstacles, move to the goal, maintain the swarm. In this study, the author chooses the priority level in the following order: avoiding obstacles, moving to the goal and finally maintaining the swarm. With an assumption that the obstacles are fixed and known in advance. Finally, the theoretical studies are simulated and verified by Matlab software.