Publication detail

Motion Planning of a Swarm of Robots Using Flocking Algorithm and Voronoi Diagram

ŠVEC, P.

Original Title

Motion Planning of a Swarm of Robots Using Flocking Algorithm and Voronoi Diagram

Type

conference paper

Language

English

Original Abstract

This paper presents some techniques for controlling and motion planning of a swarm of robots in an environment with obstacles between two given places. These techniques are based on the flocking algorithm for simulating natural life in which we try to simulate real–life herding or swarming animals like swarms of bees or schools of fish, but with lesser consideration to the reality of the motion. To find the shortest path between two places we use the A* algorithm and the Voronoi diagram as the data structure in computational geometry. The shortest path serves as a basis to create a corridor to transfer a swarm of robots.

Keywords

Path planning, path following, flocking, group behaviour, A* algorithm, Voronoi diagram

Authors

ŠVEC, P.

RIV year

2005

Released

1. 4. 2005

Publisher

MARQ Ostrava

Location

Hradec nad Moravicí

ISBN

80-248-0774-2

Book

Proceedings of the 39th Spring International Conference Modelling and Simulation of Systems MOSIS '05

Pages from

214

Pages to

220

Pages count

7

BibTex

@inproceedings{BUT24980,
  author="Petr {Švec}",
  title="Motion Planning of a Swarm of Robots Using Flocking Algorithm and Voronoi Diagram",
  booktitle="Proceedings of the 39th Spring International Conference Modelling and Simulation of Systems MOSIS '05",
  year="2005",
  volume="2005",
  pages="7",
  publisher="MARQ Ostrava",
  address="Hradec nad Moravicí",
  isbn="80-248-0774-2"
}