2A2-J04 A Study on Behavior Control of Swarm Robots for Multiple Cooperative Tasks(Swarm Robotics)

Abstract

Currently, the development of a variety of robot is in progress, but the research that a robot coordinated action does not advance. In this study, we tried to develop a smart control mechanism of appropriate behaviors of swarm robots for multiple cooperative tasks. Given cooperative tasks are a 3-Dimensional balancing task and a formation keeping task. Swarm robots system has to satisfy both tasks simultaneously. For this purpose, swarm robots have behavior controller constructed by artificial neural networks(ANN). The ANN controllers output control signals of motors from sensor values of each robot. Weight values of ANN controller are optimized by particle swarm optimization technique which is one of useful meta heuristics. Based on the proposed approach, computer simulations are carried out. Obtained experimental results illustrate effectiveness of our approach.