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Complex Shape Formation Control for Swarms Using Artificial Potentials

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Proceedings of 2021 Chinese Intelligent Systems Conference

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 804))

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Abstract

In this paper, we propose a decentralized control algorithm to solve the problem of shape formation in homogeneous swarms, which enables a swarm of agents to achieve a specific shape formation without collision. At the micro level, the algorithm makes each agent move to the desired shape domain without collision after receiving the shape information. At the macro level, the emergence of orderly formation swarm behavior is realized in this process. The Lyapunov method is used for the stability analysis of the agent swarm system. Simulation results demonstrate that the algorithm has strong flexibility, which can meet the formation requirements of various complex graphs such as convex, non-convex, connected and non-connected graph, and good adaptability to large-scale swarm.

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Acknowledgement

This work is supported by National Natural Science Foundation (NNSF) of China under Grant 61773031.

Author information

Authors and Affiliations

  1. School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China

    Anna Duan & Rui Zhou

  2. Beijing Near Space Airship Technology Development Co., Ltd., Beijing, 100070, China

    Zhiguang Shi

Authors
  1. Anna Duan
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  2. Rui Zhou
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  3. Zhiguang Shi
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Corresponding author

Correspondence to Anna Duan .

Editor information

Editors and Affiliations

  1. School of Automatic Science and Electrical Engineering, Beihang University, Beijing, China

    Yingmin Jia

  2. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

  3. School of Mechanical Engineering and Automation, Beihang University, Beijing, China

    Yongling Fu

  4. Beijing Institute of Precision Mechatronics and Controls, Beijing, China

    Zhiyuan Yu

  5. College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China

    Song Zheng

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Duan, A., Zhou, R., Shi, Z. (2022). Complex Shape Formation Control for Swarms Using Artificial Potentials. In: Jia, Y., Zhang, W., Fu, Y., Yu, Z., Zheng, S. (eds) Proceedings of 2021 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 804. Springer, Singapore. https://doi.org/10.1007/978-981-16-6324-6_38

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