Self-organised Flocking of Robotic Swarm in Cluttered Environments

Date

2021-01-01

Author

Liu, Zheyu
Turgut, Ali Emre
Lennox, Barry
Arvin, Farshad

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Self-organised flocking behaviour, an emergent collective motion, appears in various physical and biological systems. It has been widely utilised to guide the swarm robotic system in different applications. In this paper, we developed a self-organised flocking mechanism for the homogeneous robotic swarm, which can achieve the collective motion with obstacle avoidance in a cluttered environment. The proposed mechanism introduces an obstacle avoidance approach to the Active Elastic Sheet model that was previously proposed for self-propelled particles. The proposed mechanism is represented by a nonlinear repulsive force inspired by Lennard-Jones potential function in molecular dynamics. In order to evaluate the flocking performance, three different environmental settings were implemented. Results revealed that the interaction mechanism significantly determines the robustness and stability of the swarm in flocking.

Subject Keywords

Bio-inspired, Flocking, Self-organised, Swarm robotics, Bio-inspired, Flocking, Self-organised, Swarm robotics

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85119350461&origin=inward
https://hdl.handle.net/11511/96459

DOI

https://doi.org/10.1007/978-3-030-89177-0_13

Conference Name

22th Annual Conference Towards Autonomous Robotic Systems, TAROS 2021

Collections

Department of Mechanical Engineering, Conference / Seminar

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Citation Formats

Z. Liu, A. E. Turgut, B. Lennox, and F. Arvin, “Self-organised Flocking of Robotic Swarm in Cluttered Environments,” Virtual, Online, 2021, vol. 13054 LNAI, Accessed: 00, 2022. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85119350461&origin=inward.