Projects per year
Abstract
Flocking is a social animals’ common behaviour observed in nature. It has a great potential for real-world applications such as exploration in agri-robotics using low-cost robotic solutions. In this paper, an extended model of a self-organised flocking mechanism using heterogeneous swarm system is proposed. The proposed model for swarm robotic systems is a combination of a collective motion mechanism with obstacle avoidance functions, which ensures a collision-free flocking trajectory for the followers. An optimal control model for the leader is also developed to steer the swarm to a desired goal location. Compared to the conventional methods, by using the proposed model, the swarm network has less requirement for power and storage. The feasibility of the proposed self-organised flocking algorithm is validated by realistic robotic simulation software.
Original language | English |
---|---|
Pages (from-to) | 2461-2471 |
Number of pages | 11 |
Journal | Mobile Networks and Applications |
Volume | 26 |
Issue number | 6 |
DOIs | |
Publication status | Published - Dec 2021 |
Keywords
- Collective behaviour
- Flocking
- Obstacle avoidance
- Self-organised
- Swarm robotics
Fingerprint
Dive into the research topics of 'Self-Organised Collision-Free Flocking Mechanism in Heterogeneous Robot Swarms'. Together they form a unique fingerprint.Projects
- 1 Finished
-
Robotics and Artificial Intelligence for Nuclear (RAIN)
Lennox, B. (PI), Arvin, F. (CoI), Brown, G. (CoI), Carrasco Gomez, J. (CoI), Da Via, C. (CoI), Furber, S. (CoI), Luján, M. (CoI), Watson, S. (CoI), Watts, S. (CoI) & Weightman, A. (CoI)
2/10/17 → 31/03/22
Project: Research