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
相关论文
共 50 条
  • [21] Voronoi Based Coverage Control for Nonholonomic Mobile Robots
    Dirafzoon, Alireza
    Menhaj, Mohammad B.
    Afshar, Ahmad
    INTERNATIONAL MULTICONFERENCE OF ENGINEERS AND COMPUTER SCIENTISTS (IMECS 2010), VOLS I-III, 2010, : 987 - +
  • [22] Quantitative investigation of rock dynamic failure using Voronoi-based discontinuous deformation analysis
    Kaiyu Zhang
    Lei Zhang
    Feng Liu
    Yuchao Yu
    Shuai Wang
    Geomechanics and Geophysics for Geo-Energy and Geo-Resources, 2024, 10
  • [23] Design of Decentralized Chemotactic Control Law for Area Coverage using Swarm of Mobile Robots
    Schroeder, Adam M.
    Kumar, Manish
    2016 AMERICAN CONTROL CONFERENCE (ACC), 2016, : 4317 - 4322
  • [24] Swarm Quadrotor Robots for Telecommunication Network Coverage Area Expansion in Disaster Area
    Alvissalim, M. Sakti
    Zaman, Big
    Hafizh, Ahmad Z.
    Ma'sum, M. Anwar
    Jati, Grafika
    Jatmiko, Wisnu
    Mursanto, Petrus
    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), 2012, : 2256 - 2261
  • [25] Collaborative coverage using a swarm of networked miniature robots
    Rutishauser, Samuel
    Correll, Nikolaus
    Martinoli, Alcherio
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2009, 57 (05) : 517 - 525
  • [26] Distributed Voronoi-Based Self-Redeployment for Coverage Enhancement in a Mobile Directional Sensor Network
    Sung, Tien-Wen
    Yang, Chu-Sing
    INTERNATIONAL JOURNAL OF DISTRIBUTED SENSOR NETWORKS, 2013,
  • [27] Robust distributed coverage using a swarm of miniature robots
    Correll, Nikolaus
    Martinoli, Alcherio
    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, : 379 - 384
  • [28] Voronoi-based Coverage Optimization for Mobile Networks with Limited Sensing Range - A Directional Search Approach
    Stergiopoulos, John
    Tzes, Anthony
    2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 2009, : 2642 - 2647
  • [29] Voronoi-based UAVs Formation Deployment and Reconfiguration using MPC Techniques
    Chevet, Thomas
    Maniu, Cristina Stoica
    Vlad, Cristina
    Zhang, Youmin
    2018 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), 2018, : 9 - 14
  • [30] Voronoi Based Coverage Control for Nonholonomic Mobile Robots with Collision Avoidance
    Dirafzoon, A.
    Menhaj, M. B.
    Afshar, A.
    2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 2010, : 1755 - 1760
12345