Swarm Collision Avoidance using Moving Particle Semi-Implicit Method

摘要

The advantages of swarm robotics show the potential of the technology in different application areas. The control of swarms, however, remains to be the challenge. Collision avoidance in swarm robot systems can be a crucial factor in the success of the swarm system. This paper aims to present the Moving Particle Semi-Implicit Method as a method for controlling swarms, focusing on collision avoidance. The results of the study show the capability of the method to avoid collisions with the environment. Additionally, actual robot collisions can also be avoided with some parameter adjustments.