| 摘要 |
<p>The present invention relates to a controlling method, a system, and a server for robot formation and, more particularly, to a controlling method, a system, and a server for robot formation, which can stably make a robot formation by controlling the robot formation using an algorithm that corrects particles in consideration of a direction angle of a unit robot when multiple robots form a consistent formation. When controlling prediction based on a particle swarm optimization for a robot formation, the controlling method includes a particle modifying step which modifies such that a direction angle prediction value of each unit robot agrees with a direction angle target value in a final prediction section or a previous prediction section. A particle indicates a solution candidate which is a movement for a prediction section of each unit robot. The final prediction section indicates a final prediction sensor in time, when controlling by dividing the entire prediction section into one or more prediction sections during prediction controlling based on the particle swarm optimization. Therefore, the provided controlling method, the system, and the server for robot formation can stably and effectively control a robot formation by modifying particles of unit robots using a particle modification algorithm which can secure stability of the robot formation by modifying particles in consideration of the direction angle target value of the unit robots.</p> |
