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http://dx.doi.org/10.5370/KIEE.2012.61.1.130

The Cooperate Navigation for Swarm Robot Using Centroidal Voronoi Tessellation  

Bang, Mun-Seop (군산대학교 전자정보공학부)
Joo, Young-Hoon (군산대학교 제어로봇공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.61, no.1, 2012 , pp. 130-134 More about this Journal
Abstract
In this paper, we propose a space partitioning technique for swarm robots by using the Centroidal Voronoi Tessellation. The proposed method consists of two parts such as space partition and collision avoidance. The space partition for searching a given space is carried out by a density function which is generated by some accidents. The collision avoidance is implemented by the potential field method. Finally, the numerical experiments show the effectiveness and feasibility of the proposed method.
Keywords
Swarm robots; Space search; Centroidal voronoi tessellation; Lloyd's algorithm; Potential field;
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