Title: Bi-directional spring damper impedance model for path control scheme of swarm robot systems

Authors: Sung-Wook Kim; Yang Wei; Dong-Seong Kim

Addresses: Department of IT Convergence, School of Electronic Engineering, Kumoh National Institute of Technology, Yangho-Dong, Gumi, Gyeongbuk, 730-701, South Korea ' Department of IT Convergence, School of Electronic Engineering, Kumoh National Institute of Technology, Yangho-Dong, Gumi, Gyeongbuk, 730-701, South Korea ' Department of IT Convergence, School of Electronic Engineering, Kumoh National Institute of Technology, Yangho-Dong, Gumi, Gyeongbuk, 730-701, South Korea

Abstract: This paper describes a network-based swarm robotic system and proposes a group-based control scheme using bi-directional spring damper impedance. The proposed algorithm is based on the spring-damper impedance and fuzzy logic. Using the proposed scheme, each robot could overcome collision problems effectively and maintain the group formation structure. The structure of UMPC-based swarm robot (UBSR) system consists of a user level, a cognitive level, and an executive level. This structure is designed to easily meet the different configuration requirements for other levels. The simulation and experimental results show the advantages of the proposed scheme.

Keywords: network-based swarm robots; spring damper impedance control; path control; group-based control; robot control; fuzzy logic; simulation; collision avoidance; swarm robotics.

DOI: 10.1504/IJMMS.2014.062758

International Journal of Mechatronics and Manufacturing Systems, 2014 Vol.7 No.1, pp.1 - 20

Received: 30 Aug 2013
Accepted: 06 Nov 2013
Published online: 24 Jul 2014 *

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