結合van der Pol方程式を利用した群ロボットの誘導制御

ー制御系の設計と実験による検証ー

抄録

In this study, we designed a navigation control system for swarm robots using a synchronization pattern of coupled van der Pol equations. The designed control input consists of three forces, which are cohesion, alignment, and separation. The cohesive force is constructed using the synchronization patterns of the van der Pol equations. The method can control translational and rotational motions of swarm robots by changing parameters of the control law. The effectiveness of the control law is confirmed by real swarm robots.