Decentralized Collaboration Control and Obstacle Avoidance for Swarm Robot

Abstract

Nowadays, swarm robot is widely used in practice. Controlling the swarm robot is always a challenge for many researchers. In this paper, the controlling algorithm is proposed to control the swarm robot with three single mobile robots. The decentralized collaboration control and obstacle avoidance methodology are studied to control the swarm robot to move to the target. The robots of swarm robot can communicate together via the wifi protocol. The camera and image processing are applied to localize the robots, determine the directions, and recognize the obstacles. The tracking path algorithm is employed to control the leader robot which allows the swarm robot can track the reference path asymptotically. In addition, the Limit Cycle algorithm (LC) is proposed to control the swarm robot to avoid the obstacles on their way. The formation control is used to control the swarm robot moving in different formations. Both simulation and experiment results are provided to prove the effectiveness of the proposed method.