전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제61권1호
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  • Pages.130-134
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  • 2012
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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무게중심 보로노이 테셀레이션을 이용한 군집로봇의 협조탐색

The Cooperate Navigation for Swarm Robot Using Centroidal Voronoi Tessellation

  • 방문섭 (군산대학교 전자정보공학부) ;
  • 주영훈 (군산대학교 제어로봇공학과)
  • 투고 : 2011.09.23
  • 심사 : 2011.11.27
  • 발행 : 2012.01.01
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초록

In this paper, we propose a space partitioning technique for swarm robots by using the Centroidal Voronoi Tessellation. The proposed method consists of two parts such as space partition and collision avoidance. The space partition for searching a given space is carried out by a density function which is generated by some accidents. The collision avoidance is implemented by the potential field method. Finally, the numerical experiments show the effectiveness and feasibility of the proposed method.

키워드

참고문헌

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피인용 문헌

  1. Formation Control Algorithm for Swarm Robots Using Virtual Force vol.63, pp.10, 2014, https://doi.org/10.5370/KIEE.2014.63.10.1428
  2. Optimal Region Deployment for Cooperative Exploration of Swarm Robots vol.22, pp.6, 2012, https://doi.org/10.5391/JKIIS.2012.22.6.687
  3. Asynchronous Behavior Control Algorithm of the Swarm Robot for Surrounding Intruders vol.18, pp.9, 2012, https://doi.org/10.5302/J.ICROS.2012.18.9.812