|Formation Control of Swarm Robots with Multiple Proximity Distance Sensors
Kazunori Sakurama*, Yusuke Kosaka, and Shin-ichiro Nishida
International Journal of Control, Automation, and Systems, vol. 16, no. 1, pp.16-26, 2018
Abstract : "This study deals with the formation control problem of swarm robots using position sensitive detector
(PSD) proximity distance sensors based on light-emitting diodes (LEDs). These proximity distance sensors are
lightweight and quickly responsive, and are expected to enhance the mobility and flexibility of swarm robots. However,
as each sensor has a narrow detection angle, the formation control problem becomes more difficult than when
wide-directional distance sensors (such as cameras and laser rangefinders) are used. To overcome this difficulty,
we design a two-part motion controller that controls both position and attitude. The attitude controller is necessary
for continuous detection of other robots through the narrow detection angles. The designed controller is distributed
in the sense that it requires only information on measured values of each robot’s own sensors. Next, we derive an
appropriate sensor arrangement (positions and detection angles) that achieves the desired formation pattern. Finally,
the effectiveness of the proposed method is demonstrated in an experiment performed by six omni-wheeled robots
equipped with LED-based PSD proximity distance sensors."
Distributed control, formation control, proximity distance sensors, swarm robotics.