A self-organized shape formation in swarm robots

This work proposes a functional method-based approach for shape formation. The core principle in swarm intelligence is that simple swarm behaviour can be established with assigning the rules. To keep all the agents in the given shape and to build the set of motion, desired locations must be assigned...

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Bibliographic Details
Published in:Journal of physics. Conference series 2023-04, Vol.2471 (1), p.12014
Main Authors: Rooban, S, Bhargav, M, Vamsi Reddy, A, Sai Teja, M, Probin Kumar, V
Format: Article
Language:English
Subjects:
Algorithms
Collision avoidance
Obstacle avoidance
Particle swarm optimization
Physics
Robot dynamics
Robots
Shortest-path problems
Swarm intelligence
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Summary:This work proposes a functional method-based approach for shape formation. The core principle in swarm intelligence is that simple swarm behaviour can be established with assigning the rules. To keep all the agents in the given shape and to build the set of motion, desired locations must be assigned to govern the leader and the other followers. Given the restrictions of communication, collision avoidance, and computation challenges, the proposed work is ideal for swarm robots shape formation. The proposed dynamic shape formation uses the shortest path method and the obstacle avoidance algorithm. Natural swarm inspired method based on the Particle Swarm Optimization (PSO) model is used to form the robots in the assigned position. A set of simulation analysis demonstrate that the convergence and scalability of our proposed technique. The effectiveness of pattern formation is increased further by adjusting specific parameters in the PSO model with the aid of the MATLAB simulator.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2471/1/012014