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Multi-Robot Path Planning for Environmental Exploration/Monitoring

미지 환경 탐색 및 감시를 위한 다개체 로봇의 경로계획

  • 이수용 (홍익대학교 기계시스템디자인공학과)
  • Received : 2012.02.26
  • Accepted : 2012.03.27
  • Published : 2012.05.01

Abstract

This paper presents a multi-robot path planner for environment exploration and monitoring. Robotics systems are being widely used as data measurement tools, especially in dangerous environment. For large scale environment monitoring, multiple robots are required in order to save time. The path planner should not only consider the collision avoidance but efficient coordination of robots for optimal measurements. Nonlinear spring force based planning algorithm is integrated with the spatial gradient following path planner. Perturbation/Correlation based estimation of spatial gradient is applied. An algorithm of tuning the stiffness for robot coordination is presented. The performance of the proposed algorithm is discussed with simulation results.

Acknowledgement

Supported by : 한국연구재단

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