Area Coverage Searching for Swarm Robots Using Dynamic Voronoi-based Method

被引：0
|
作者：
Yang, Bin [1 ,3 ]
Ding, Yongsheng [1 ,2 ]
Hao, Kuangrong [1 ,2 ]
机构：
[1] Donghua Univ, Coll Informat Sci & Technol, Shanghai 201620, Peoples R China
[2] Donghua Univ, Minist Educ, Engn Res Ctr Digitized Text & Apparel Technol, Shanghai 201620, Peoples R China
[3] Huaiyin Normal Univ, Dept Math, Huaian 223300, Jiangsu, Peoples R China
来源：
2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年
关键词：
Distributed control; Swarm robots; Dynamic voronoi; area coverage searching; SCOUT ANT ALGORITHM; MOBILE ROBOTS; OPTIMIZATION; NAVIGATION; OBSTACLE; FIELDS; TASK;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The main challenge in swarm robots area coverage searching is how to design an efficient algorithm with self organized and decentralized property. This paper proposed a dynamic Voronoi-based algorithm to solve the area coverage searching problem in decentralized control of sensors-based swarm robots. In the beginning, local coordinate system is established by initial position and the target area of the swarm robots by modified bacterial foraging optimization (MBFO). Then the target area is divided into Voronoi cells dynamically by the robots moving. The robots move following the concentration gradient of area by the MBFO algorithm. Simulation results proved the effectiveness of dynamic Voronoi-based algorithm.
引用
收藏
页码：6090 / 6094
页数：5
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