군집 로봇의 행동 제어 알고리즘

Action Control Algorithm of Swarm Robot

In this paper, we propose the control algorithm for surrounding an intruder by using the swarm robots when detecting an intruder in a surveillance environment. To do this, the proposed method is divided into three parts. First, we propose the algorithm for modeling the state of the swarm robots. Second, we propose an algorithm for surrounding an intruder using the swarm robots. Third, we propose the control method for the collision avoidance between the swarm robots. Finally, we show the effectiveness and feasibility of the proposed method through some experiments.