Browse > Article
http://dx.doi.org/10.5391/JKIIS.2010.20.4.489

Extension of Self-organization for Swarm Systems to Three Dimensions  

Kim, Jae-Hyun (한국과학영재학교)
Kim, Dong-Hun (경남대학교 전기공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.4, 2010 , pp. 489-496 More about this Journal
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.
Keywords
Self-organization; Path planning; Three dimension space; Artificial Potential Functions;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 D.H. Kim, “Self-organization of Decentralized System Agents Based on Modified Particle Swarm Algorithm," Journal of Intelligent Robot Systems, 46:129-149, 2006   DOI
2 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
3 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.   DOI
4 R. Siegwart, I.R Nourbakhsh, “Introduction to Autonomous Mobile Robots,” The MIT Press, 2004.
5 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.
6 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   DOI
7 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.
8 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.   DOI
9 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.
10 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.   DOI
11 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