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This paper describes a novel autonomous decentralized control algorithm based on the reaction-diffusion equation. Here we apply the algorithm to the group movement control of multiple mobile robots in which a group of mobile robots surround a fugitive robot. To confirm the proposed control algorithm, we carried out extensive simulations as well as experiments for the PIC16F84-based mobile robots.
SICE 2003 Annual Conference (Volume:1 )
Date of Conference: 4-6 Aug. 2003