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An enhanced formation of multi-robot based on A* algorithm for data relay transmission

Title
An enhanced formation of multi-robot based on A* algorithm for data relay transmission
Authors
Xu, ZhiguangChoi, Kyung SikKim, Yoon GuAn, Jin UngLee, Suk Gyu
DGIST Authors
Kim, Yoon Gu; An, Jin Ung
Issue Date
2011
Citation
2nd International Conference on Swarm Intelligence, ICSI 2011, 6729 LNCS(PART 2), 91-98
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
ISSN
0302-9743
Abstract
This paper presents a formation control method of multi-robot based on A* algorithm for data relay transmission. In our system, we choose Nanotron sensor and compass sensor to execute the tasks of distance measurement, communication and obtaining moving direction. Since there exists data disturbance from Nanotron sensor when there is an obstacle between two robots. Therefore, we embed path planning algorithm information control. The leader robot (LR) knows the whole information of environment, and sends its moving information and corner information as a node to FRs. The FRs regard the node information which received from LR as temporary target to increase the efficiency of multi-robot formation by optimal path. From the simulations and experiments, we will show desirable results of our method. © 2011 Springer-Verlag.
URI
http://hdl.handle.net/20.500.11750/1815
DOI
10.1007/978-3-642-21524-7_12
Publisher
Springer Verlag
Related Researcher
Files:
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Collection:
Division of IoT∙Robotics Convergence Research2. Conference Papers


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