This paper proposes a solution to controls warm robots in an effort to avoid obstacles, moving to\nthe goal by the method of Null Space based Behavior (NSB) control of an individual in the swarm.\nThis paper also provides the stability analysis of the converging process by investigating the relationship\nbetween single agents, and the analysis result is proved by using the Lyapunov theory.\nFinally, the simulation results in two-dimensional space have confirmed the obtained theoretical\nresults.
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