Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Optimal Region Deployment for Cooperative Exploration of Swarm Robots

군집로봇의 협조 탐색을 위한 최적 영역 배치

  • Bang, Mun Seop (Department of Control and Robotics Engineering, Kunsan National University) ;
  • Joo, Young Hoon (Department of Control and Robotics Engineering, Kunsan National University) ;
  • Ji, Sang Hoon (Robot Convergence Research Center, Korea Institute of Industrial Technology)
  • 방문섭 (군산대학교 제어로봇공학과) ;
  • 주영훈 (군산대학교 제어로봇공학과) ;
  • 지상훈 (한국생산기술연구원 로봇융합기술연구그룹)
  • Received : 2012.10.12
  • Accepted : 2012.12.06
  • Published : 2012.12.25
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Abstract

In this paper, we propose a optimal deployment method for cooperative exploration of swarm robots. The proposed method consists of two parts such as optimal deployment and path planning. The optimal area deployment is proposed by the K-mean Algorithm and Voronoi tessellation. The path planning is proposed by the potential field method and A* Algorithm. Finally, the numerical experiments demonstrate the effectiveness and feasibility of the proposed method.

본 논문에서는 군집로봇의 효과적인 협조탐색을 위한 탐색영역에 대한 군집로봇의 최적배치을 제안한다. 먼저, 탐색영역에 대한 최적의 배치를 위해 보로노이 테셀레이션과 K-mean 알고리즘을 이용하여 탐색영역을 분할한다. 분할된 영역을 안전한 주행을 위해 전역경로계획과 지역경로계획을 한다. 전역경로계획은 A*알고리즘을 이용하여 전역경로계획을 하여 최적의 전역경로를 찾고, 지역경로계획은 포텐셜 필드방법을 이용하여 장애물 회피 통해 안전하게 목표점에 이르게 한다. 마지막으로 제안한 알고리즘은 시물레이션을 통해 그 응용가능성을 검토한다.

Keywords

Acknowledgement

Supported by : 한국연구재단

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