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http://dx.doi.org/10.5391/JKIIS.2012.22.6.687

Optimal Region Deployment for Cooperative Exploration of Swarm Robots  

Bang, Mun Seop (Department of Control and Robotics Engineering, Kunsan National University)
Joo, Young Hoon (Department of Control and Robotics Engineering, Kunsan National University)
Ji, Sang Hoon (Robot Convergence Research Center, Korea Institute of Industrial Technology)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.6, 2012 , pp. 687-693 More about this Journal
Abstract
In this paper, we propose a optimal deployment method for cooperative exploration of swarm robots. The proposed method consists of two parts such as optimal deployment and path planning. The optimal area deployment is proposed by the K-mean Algorithm and Voronoi tessellation. The path planning is proposed by the potential field method and A* Algorithm. Finally, the numerical experiments demonstrate the effectiveness and feasibility of the proposed method.
Keywords
Optimal Deployment; Swarm Robots; Cooperative Exploration; path planning; K-mean Algorithm; Voronoi tessellation; potential field; A* Algorithm;
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Times Cited By KSCI : 5  (Citation Analysis)
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