Research On Rendezvous Control Problem Of Swarm Robots

Rendezvous of flocking robots is one of hottest points in theory research and engineering application currently. There are many problems to be solved in communication, cooperation and control strategies for swarm robots system. Some new methods are proposed to solve rendezvous control problems of swarm robots in this thesis, and main work is arranged as the following:(1) Rendezvous control problems of swarm robots in the case of linear coupling relationship. Firstly, a distributed control algorithm is proposed to solve rendezvous problem of swarm robots without a virtual leader according to relative position and velocity information. Secondly, a distributed control algorithm is proposed with a virtual leader while the connectivity of the network topology preserved. Based on linear coupled relationship of swarm robots, some other factors are considered, such as a time variant leader and dynamical adaptive parameteters.(2) Rendezvous control problems of swarm robots with only position information. Generally speaking, it’s difficult to get velocity information of robots. One distributed predictor is also built based on relative position. Distributed control algorithms are proposed to solve rendezvous control proble. Swarm robots system with one virtual leader is researched in this case, and distributed control algorithms are proposed while connectivity of robots network preserved. All the robots will reach the same place with the same velocity value.(3) Nonlinear rendezvous control problem of swarm robots is also deeply researched in the thesis. For complex flocking behavior, nonlinear coupling relationship between robots is considered. Considering swarm system without and with a virtual leader, according to effects of nonlinear coupling relationship between robots, relative potential function and a virtual leader, distributed control algorithm with nonlinear coupling function is proposed while connectivity of robots network preserved. In the case of dynamical parameters adaptive control in swarm robots, distributed control algorithm is proposed to solve this problem.Research on rendezvous problem of swarm robots, for different cases, some distributed control algorithms are proposed to solve different problems. Theory analysis proves that the algorithms can keep robot network connected, and all the robots will reach the same place with the same velocity value. Finally, effectiveness of the proposed distributed rendezvous control algorithms is validated through simulation experiments. For complicated behavior of swarm robots, the proposed control algorithms can be used to different application case. It can be used in practicial engineering application. The proposed algorithm will give a guideline to design and solve swarm emergence problem.