Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Extension of Self-organization for Swarm Systems to Three Dimensions

스웜시스템을 위한 자기조직화의 3D 확장

  • Received : 2010.02.12
  • Accepted : 2010.08.01
  • Published : 2010.08.25
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a self-organization framework for swarm systems in three dimensions is presented. The framework uses artificial potential functions(APFs) to direct the robots toward the goal as well as to keep them in a swarm system. This research extends conventional APFs used for self-organizations in two dimension environment to three dimensions. In three dimension environment, the ground potential for the boundary surfaces that commonly appear in three dimension environments is proposed. Accordingly, the comparison between the paths without and with the ground potentials shows the necessity and effect of ground potentials. Extensive simulations are given to show the effectiveness of the extended potentials and various properties in three dimension environments.

본 논문은 3D 환경에서의 스웜시스템을 위한 자기조직화 방법을 제시한다. 스웜 시스템의 자기조직화를 위하여 인력과 척력을 이용하는 인공 포텐셜 함수(Artificial Potential Function, 이하 APF)를 사용하였다. 제안된 연구에서는 2D 환경에서 자기조직화를 위해 사용되어왔던 다양한 포텐셜들을 3D 환경에 맞게 확장 설계한다. 지면이나 수면 등의 경계면을 가지는 3D 환경의 특성을 고려하여 지면 포텐셜(Ground Potential)을 제안한다. 지면 포텐셜을 고려하지 않았을 때와 고려할 때의 비교 결과를 통해 지면 포텐셜의 필요성과 효과를 보여준다. 마지막으로, 다양한 시뮬레이션 결과를 통해 3D 환경에서 확장된 인공포텐셜과 그 성질의 효율성을 보여준다.

Keywords

References

  1. D. H. Kim, H. O. Wang, and S. Shin, “Decentralized control of autonomous swarm systems using artificial potential functions : Analytical Design Guidelines,” Int. Journal of Intelligent and Robotic Systems, vol. 45, no. 4, pp. 369-394, 2006. https://doi.org/10.1007/s10846-006-9050-8
  2. J. Carsten, D. Ferguson, A. Stentz, “3D Field $D{\ast}$: Improved Path Planning and Replanning in Three Dimensions," In the Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006.
  3. V. Kroumov, J. Yu, “3D Path Planning for Mobile Robots Using Annealing Neural Network," In the Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, Okayama, Japan, 2009
  4. D.H. Kim, “Self-organization of Decentralized System Agents Based on Modified Particle Swarm Algorithm," Journal of Intelligent Robot Systems, 46:129-149, 2006 https://doi.org/10.1007/s10846-006-9047-3
  5. D.H. Kim, “Self-organization of Swarm Systems by Association," International Journal of Control, Automation, and Systems, Vol. 6, No. 2, pp.1-10, 2008
  6. D.H. Kim, S. Shin, “New repulsive potential functions with angle distributions for local path planning,” Advanced Robotics, Vol. 20, No. 1, 25-47, 2006. https://doi.org/10.1163/156855306775275549
  7. R. Siegwart, I.R Nourbakhsh, “Introduction to Autonomous Mobile Robots,” The MIT Press, 2004.
  8. G. Ye, H.O. Wang, K. Tanaka, Z. Guan, “Managing group behaviors in swarm systems by associations,” In Proceedings of the 25th American Control Conference, Minneapolis, Minnesota, pp. 3537-3544, 2006.
  9. S.S. Ge, Y.J. Cui, “New Potential Functions for Mobile Robot Path Planning," IEEE Transactions on Robotoics and Automation, Vol. 16, No. 5, pp. 615-620, 2000 https://doi.org/10.1109/70.880813
  10. Y. Koren, and J. Borenstein, “Potential field methods and their inherent limitations for mobile robot navigation,” Proc. of the IEEE int. Conf. on Robotics & Automation, pp. 1398-1404, 1991.
  11. S. S. Ge, and Y. J. Cui, “Dynamic motion planning for mobile robots using potential field method,” Autonomous Robots, vol. 13, no. 3, pp. 207-222, 2002. https://doi.org/10.1023/A:1020564024509