유니사이클 스웜 로봇의 자기조직화를 위한 LOS 기반의 국소 경로 계획

LOS-based Local Path Planning for Self organization of Unicycle Swarm Robots

Simple quadratic potential functions for unicycle robot path planning are presented, where proposed algorithm for path planning has the different environment for each robot based on LOS(Line Of Sight) between a target and an obstacle, unlike a conventional path planning. In doing so, the proposed algorithm assumes that each swarm robot equips its own vision instead of a ceiling camera. In particular, this paper presents that each robot follows its different local leader. As a result proposed algorithm reduces local minimum problems by the help of each local leader.