Detail publikačního výsledku

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

ŠVEC, P.

Originální název

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

Anglický název

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

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

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

Klíčová slova v angličtině

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

Autoři

ŠVEC, P.

Vydáno

01.04.2005

Nakladatel

MARQ Ostrava

Místo

Hradec nad Moravicí

ISBN

80-248-0774-2

Kniha

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

Svazek

2005

Strany od

214

Strany počet

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"
}