Application of Null Space Based Behavior Control to the Swarm Robot’s Control

Le Thi Thuy Nga, Le Hung Lan

Department of Cybernetics, University of Transport and Communications Hanoi, Hanoi, Vietnam.

DOI: 10.4236/mme.2015.53009                

Abstract

This paper proposes a solution to controls warm robots in an effort to avoid obstacles, moving to the goal by the method of Null Space based Behavior (NSB) control of an individual in the swarm. This paper also provides the stability analysis of the converging process by investigating the relationship between single agents, and the analysis result is proved by using the Lyapunov theory. Finally, the simulation results in two-dimensional space have confirmed the obtained theoretical results.

Keywords

Swarm Robots, Avoid Obstacles, Null Space Based Behavior

Conflicts of Interest

The authors declare no conflicts of interest.

References

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