유동적인 군집대형을 기반으로 하는 군집로봇의 경로 계획

Title
유동적인 군집대형을 기반으로 하는 군집로봇의 경로 계획
Other Titles
An Advanced Path Planning of Clustered Multiple Robots Based on Flexible Formation
Author(s)
이석규위성길딜샛사이토프최경식[최경식]
Keywords
Clustered Mobile Robots (군집로봇); Flexible Formation (유동적인 군집대형); Collision Avoidance (충돌회피); Advanced Path Planning (진화된 경로계획)
Issue Date
201212
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.29, no.12, pp.1321 - 1330
Abstract
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.
URI
http://hdl.handle.net/YU.REPOSITORY/26515http://dx.doi.org/10.7736/KSPE.2012.29.12.1321
ISSN
1225-9071
Appears in Collections:
공과대학 > 전기공학과 > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE