A centroidal Voronoi tessellation based intelligent control algorithm for the self-assembly path planning of swarm robots
| Autor: | Yong-Dong Li, Yong Guan, Hong-Xing Wei, Qiang Mao |
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| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Computer science General Engineering Swarm robotics 02 engineering and technology Computer Science Applications 020901 industrial engineering & automation Artificial Intelligence 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Motion planning Ant robotics Centroidal Voronoi tessellation Intelligent control Algorithm |
| Zdroj: | Expert Systems with Applications. 85:261-269 |
| ISSN: | 0957-4174 |
| DOI: | 10.1016/j.eswa.2017.05.048 |
| Popis: | Swarm robots have been an active topic in the field of intelligent machines in recent years. Self-assembly is an important function of swarm robots that provides an effective way for building different kinds of configurations by autonomous docking. For a self-assembly process, the path planning control is a key technique. The present paper proposes a CVT (Centroidal Voronoi Tessellation) based intelligent control algorithm for the self-assembly path planning. It can enable swarm robots to move from an initial virtual region into the target virtual region by a synchronous collaborative scheduling method. Matlab simulations are performed on the self-assembly control of three typical configurations including the line-shape, cross-shape and H-shape. The time consumption is compared under different error conditions, the effectiveness of the new algorithm is validated and its limitation is also pointed out. Overall, this algorithm provides a promising way for the intelligent control of self-assembly path planning of swarm robots. |
| Databáze: | OpenAIRE |
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