The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Efficient Sweeping Algorithm for Multi-Security Mobile Robots

군집 이동형 사회안전 로봇을 위한 효율적인 수색 알고리즘 개발

  • 손웅희 (한국생산기술연구원 지능형로봇연구부) ;
  • 한창수 (한양대학교 기계공학과) ;
  • 지상훈 (한국생산기술연구원 지능형로봇연구부)
  • Received : 2010.07.14
  • Accepted : 2010.08.09
  • Published : 2010.09.01
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Abstract

In this paper, we aim at providing a novel sweeping method for multi-security mobile robots. The sweeping problem of the multi-robots can be modeled as the stick pulling problem in which the swarm robots should sweep unknown terrains in order to remove sticks collaboratively. For the purpose, we define a certain map, what is called stick map. And we suggest how to make swarm robots build up and utilize the map in order to improve the productivity of collaborative removing sticks. Finally, the efficiency of our algorithm is verified with simulation experiments.

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References

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