| Title |
Distributed Search of Swarm Robots Using Tree Structure in Unknown Environment |
| Authors |
이기수(Gi Su Lee) ; 주영훈(Young Hoon Joo) |
| DOI |
http://doi.org/10.5370/KIEE.2018.67.2.285 |
| Keywords |
Swarm robots ; Distributed search ; Voronoi diagram ; Tree structure ; Unknown environment |
| Abstract |
In this paper, we propose a distributed search of a cluster robot using tree structure in an unknown environment. In the proposed method, the cluster robot divides the unknown environment into 4 regions by using the LRF (Laser Range Finder) sensor information and divides the maximum detection distance into 4 regions, and detects feature points of the obstacle. Also, we define the detected feature points as Voronoi Generators of the Voronoi Diagram and apply the Voronoi diagram. The Voronoi Space, the Voronoi Partition, and the Voronoi Vertex, components of Voronoi, are created. The generated Voronoi partition is the path of the robot. Voronoi vertices are defined as each node and consist of the proposed tree structure. The root of the tree is the starting point, and the node with the least significant bit and no children is the target point. Finally, we demonstrate the superiority of the proposed method through several simulations. |