Study on Swarm Robots Aggregation Formation Control

This study puts up dynamic aggregation formation control strategies over swarm robots when the robots are in uncertain environment. The clustering centers of the swarm robots are determined by combining the K-means clustering algorithm and the composite body structural formation control strategies. Individual robot takes the formation control rows spontaneously generated from local detection as the vector to head toward the target and avoid obstacles. Those robots aggregating in a form of circle centered a clustering center will further form into a formation of a triangle. The simulation tests and other tests against the forming and change of the swarm robots aggregation formation have verified the validity, and feasibility of the proposed strategies.