Abstract:

Considering the social foraging swarm task under the uniform viscous environment, and the concept of internal average kinetic energy is introduced. Adjacent matrix method is presented in this paper which is due to the distance of robots. A decentralized controller is designed based on local information interaction, then analysis of system stability is performed, Simulation experiments have been done to verify the designed controller. The results show that the proposed controller enables the swarm robots system to reach forage task more efficiency.

Key words: swarm intelligence, swarm robotic system, decentralized control, forage, kinetic energy