Authors
Huailin Zhao1, *, Zhen Nie1, Xiaoxing Wang2
1School of Electrical and Electronic Engineering, Shanghai Institute of
Technology, No. 100, Haiquan Road, Fengxian District, Shanghai 201418,
China
2College of Engineering, University of Massachusetts Amherst, Amherst,
MA 01003, USA
*Corresponding author. Email: [email protected]
Corresponding Author
Huailin Zhao
Received 30 September 2018, Accepted 15 November 2018, Available Online
25 June 2019.
DOI
https://doi.org/10.2991/jrnal.k.190602.002
Keywords
Multi-robot; clustering; grouping aggregation; swarm intelligence
Abstract
In this paper, the grouping aggaregation problem of multi-robot in simple
environment is studied. The grouping algorithm and aggregation algorithm
are mainly discussed. Based on K-means clustering algorithm, a grouping
control algorithm that can determine the number of groups and complete
the grouping task autonomously was designed. Aiming at the problem of aggregation,
three kinds of aggregation algorithms are proposed. Taking the center aggregation
control as an example, the cooperation and control of each group of robots
are studied. Finally, the simulation results of MATLAB show that the multi-robot
grouping and aggregation algorithm is effective.
Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license
(http://creativecommons.org/licenses/by-nc/4.0/).