Behavior Decomposition Formation Algorithm Based on Dynamic Target Point
Ruiyuan Fan · Control Engineering of China · 2010
The multi-robot formation problem is discussed.A behavior decomposition formation algorithm based on dynamic target point is presented.In the proposed algorithm,each robot gets its accurate target point,and the robots know where they should go.The target point is dynamic,and computed by real-time,by which a movement requirement is obtianed.Based on the principle of finite state machine(FSM),the movement requirement is dievided into different sub-behaviors,which are given different weight values.After the weights averaged,the algorithm can get a final control variable.The simulation results show the feasibility and effectiveness of the proposed algorithm.This formation algorithm can be used to the military search,round up and machinery movement and some other fields.