Title :
A Motion Planning of Swarm Robots Using Genetic Algorithm
Author :
Lin, Chien-Chou ; Hsiao, Po-Yuan ; Chen, Kun-Cheng
Author_Institution :
Dept. of Comput. Sci. & Inf. Eng., Nat. Yunlin Univ. of Sci. & Technol., Douliu, Taiwan
Abstract :
In this paper, a potential-based genetic algorithm is proposed for formation control of robot swarm. The proposed algorithm consists of a global path planner and a motion planner. The global path planning algorithm searches a path, which the center of robot swarm should follow, within a Voronoi diagram of the free space. The motion planning is a genetic algorithm based on artificial potential models. The potential functions are used as a repulsion to keep robots away from obstacles and as an attraction/repulsion to keep robot swarm within a certain distance. With Voronoi diagram and potential models, the algorithm plans safe paths efficiently and the formation of robot swarm is also maintained.
Keywords :
computational geometry; genetic algorithms; mobile robots; motion control; multi-robot systems; path planning; Voronoi diagram; formation control; global path planning algorithm; motion planning; potential-based genetic algorithm; swarm robots; Biological cells; Collision avoidance; Planning; Robot kinematics; Trajectory; Swarm robotics; Voronoi diagram; artificial potential filed; formation control; genetic algorithm;
Conference_Titel :
Broadband, Wireless Computing, Communication and Applications (BWCCA), 2010 International Conference on
Conference_Location :
Fukuoka
Print_ISBN :
978-1-4244-8448-5
Electronic_ISBN :
978-0-7695-4236-2
DOI :
10.1109/BWCCA.2010.128