DocumentCode :
3705719
Title :
Y-Pod formation of swarm robots using amber force fields
Author :
Purushotham Muniganti;Albert Oller Pujol
Author_Institution :
Intelligent Robotics and Computer Vision Research Group, Department of Electrical Electronics and Automation Engineering, AV. Paisos Catalns 26, Campus Sescelades, Rovira I Virgili University, 43007, Tarragona, Spain
Volume :
2
fYear :
2015
fDate :
7/1/2015 12:00:00 AM
Firstpage :
320
Lastpage :
327
Abstract :
In this paper proposes a new idea inspired form molecular dynamics theory, i.e. amber force fields to form a Y-Pod formation of swarm robots. From a molecular dynamics point of view, molecules which contain large amounts of atoms form desired crystallization formations. So, we barrowed this idea and each atom is treated as an atom robot to form the desired pattern. In molecules, bond length and bond angle parameters are chosen from empirical values. However, in our task the chosen simulation tuned the parameters to eventually control the robots in terms of force fields and alignment to overcome cohesiveness and consensus problems. Finally, an implemented virtual leader carried Y-Pod formation to reach the desired destination point.
Keywords :
"Force","Mobile robots","Robot kinematics","Kinematics","Mathematical model","Dynamics"
Publisher :
ieee
Conference_Titel :
Informatics in Control, Automation and Robotics (ICINCO), 2015 12th International Conference on
Type :
conf
Filename :
7347787
Link To Document :
بازگشت