Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
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Muti-Path Search Algorithm for Safe Movement of Swarm of Unmanned Systems

군집 무인체계의 안전한 이동을 위한 다중 경로 탐색 기법

  • Lee, Jong-Kwan (Department of Computer Science, Korea Military Academy) ;
  • Lee, Minwoo (Department of Computer Science, Korea Military Academy)
  • Received : 2020.11.22
  • Accepted : 2020.12.14
  • Published : 2021.01.31
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Abstract

In this paper, we present a path search scheme for the safe movement of the swarm of unmanned systems in unknown dangerous areas. Some of the swarm searches for the primary and secondary paths before the majority of swarm move through dangerous areas. In terms of rapid movement from the dangerous area and preparation for an accident, the primary path is searched first in the destination's direction. The secondary path is searched by considering the distance between the paths to guarantee a safe distance. The computer simulations show that the proposed scheme is suitable for the swarm of unmanned systems.

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References

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