한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제29권12호
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  • Pages.1321-1330
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  • 2012
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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유동적인 군집대형을 기반으로 하는 군집로봇의 경로 계획

An Advanced Path Planning of Clustered Multiple Robots Based on Flexible Formation

  • Wee, Sung Gil (Department of Electrical Engineering, Yeungnam Univ.) ;
  • Saitov, Dilshat (Department of Electrical Engineering, Yeungnam Univ.) ;
  • Choi, Kyung Sik (Department of Electrical System Control, Ulsan Meister High School) ;
  • Lee, Suk Gyu (Department of Electrical Engineering, Yeungnam Univ.)
  • 투고 : 2012.07.17
  • 심사 : 2012.09.20
  • 발행 : 2012.12.01
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초록

This paper describes an advanced formation algorithm of clustered multiple robots for their navigation using flexible formation method for collision avoidance under static environment like narrow corridors. A group of clustered multiple robots finds the lowest path cost for navigation by changing its formation. The suggested flexible method of formation transforms the basic group of mobile robots into specific form when it is confronted by particular geographic feature. In addition, the proposed method suggests to choose a leader robot of the group for the obstacle avoidance and path planning. Firstly, the group of robots forms basic shapes such as triangle, square, pentagon and etc. depending on number of robots. Secondly, the closest to the target location robot is chosen as a leader robot. The chosen leader robot uses $A^*$ for reaching the goal location. The proposed approach improves autonomous formation characteristics and performance of all system.

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참고문헌

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