Abstract:

Considering the flocking problem of the dynamic model of swarm robotic system in a dynamic environment, an adjacent matrix method is proposed by using the distance between agents. A decentralized controller is designed based on the interaction of local information. The system stability is analyzed by Barbalat Lemma. This controller can make the velocities of all agents of the system converge to the same value in both fixed topology case and switching topology case under dynamic environment. Simulation experiments were conducted to verify the designed controller. Results show that this controller enables the swarm robotic system to reach flocking behavior.

Key words: robot technology, swarm robotics, decentralized control, analysis of stability, flocking