Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Behavior Control Algorithm of Swarm Robots to Maintain Network Connectivity

네트워크 연결성 유지를 위한 군집 로봇의 행동 제어 알고리즘

  • Kim, Jong Seon (Department of Control and Robotics Engineering, Kunsan National University) ;
  • Jeong, June Young (Department of Control and Robotics Engineering, Kunsan National University) ;
  • Ji, Sang Hoon (Applied Robot Technology, Korea Institute of Industrial Technology) ;
  • Joo, Young Hoon (Department of Control and Robotics Engineering, Kunsan National University)
  • 김종선 (군산대학교 전자정보공학과) ;
  • 정준영 (군산대학교 전자정보공학과) ;
  • 지상훈 (한국생산기술연구원 실용로봇연구그룹) ;
  • 주영훈 (군산대학교 제어로봇공학과)
  • Received : 2012.08.12
  • Accepted : 2012.09.25
  • Published : 2013.12.01
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Abstract

In swarm robot systems, it is vital to maintain network connectivity to ensure cooperative behavior between robots. This paper deals with the behavior control algorithm of the swarm robots for maintaining network connectivity. To do this, we divide swarm robots into search-robots, base-robots, and relay-robots. Using these robots, we propose behavior control algorithm to maintain network connectivity. The behavior control algorithms to maintain network connectivity are proposed for the local path planning using virtual force and global path planning using the Delaunay triangulation, respectively. Finally, we demonstrate the effectiveness and applicability of the proposed method through some simulations.

Keywords

References

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  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