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

The Korean Institute of Electrical Engineers (대한전기학회)
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Distributed Search of Swarm Robots Using Tree Structure in Unknown Environment

미지의 환경에서 트리구조를 이용한 군집로봇의 분산 탐색

  • Lee, Gi Su (Dept. of Control and Robotics Engineering, Kunsan National University) ;
  • Joo, Young Hoon (Dept. of Control and Robotics Engineering, Kunsan National University)
  • Received : 2017.12.06
  • Accepted : 2018.01.30
  • Published : 2018.02.01
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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.

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