Swarm-robot grid distribution and motion in complicated environment

Abstract

How to control swarm formation in complicated environment is a challenging problem.This paper analyzes the principle on grid distribution and motion control of swarm-robot based on virtual force,puts forward some performance judgment parameters(such as stabilization time,collision times,connection number,cluster number,and so on).The effect of virtual force on grid formation motion is discussed.The result of the experiment shows that this method can accomplish the grid distribution and motion control robustly and efficiently.At last,the directions of further research are proposed.