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

The Korean Institute of Electrical Engineers (대한전기학회)
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Environment Monitoring Algorithm using Behavior-Based Multiple Robot System

행동기반 다개체 로봇 시스템을 이용한 환경감시 알고리즘

  • 권지욱 (아주대학교 전자공학부) ;
  • 홍석교 (아주대학교 전자공학부) ;
  • 좌동경 (아주대학교 전자공학부)
  • Received : 2012.01.12
  • Accepted : 2012.02.21
  • Published : 2012.04.01
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Abstract

This paper proposes an environment monitoring algorithm using a behavior-based multiple robot system. This paper handles an escort and a boundary-tracking especially. Unlike previous research works, the proposed environment monitoring system which is based on the behavior-based multiple robot control allows the system to employ the reusable code and general algorithm. Also, the proposed method can be applied to cheaper process with low performances. In the proposed method, escort and boundary-tracking missions are constructed by weighted sum of predefined basic behaviors after redefining the basic behaviors in previous works and introducing the novel basic behavior. Simulation results of the proposed method are included to demonstrate the practical application of the proposed algorithm.

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References

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