A*-Based Path Planning Algorithm for Swarm Robotics

被引：1

作者：

Izhboldina, Valeriia ^{[1
]}

Usina, Elizaveta ^{[1
]}

Vatamaniuk, Irina ^{[1
]}

机构：

[1] Russian Acad Sci, St Petersburg Inst Informat & Automat, 39,14th Line, St Petersburg 199178, Russia

来源：

INTERACTIVE COLLABORATIVE ROBOTICS, ICR 2020 | 2020年 / 12336卷

关键词：

Swarm robotics; Path planning; Route map; Mobile robots; Group control;

D O I：

10.1007/978-3-030-60337-3_11

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Currently path planning for a swarm of mobile robots is a relevant problem in the domain of robotics. Various approaches to its solution exist. One of such approaches comprises different methods of informed sampling, which boost the search process through direction of search frontier towards the target. This paper presents combination of such method with the simplified representation of the operational environment, specifically, cellular decomposition. The proposed method ensures transition of a robot swarm into the predefined formation in such manner, that during robot motion along the planned paths no collisions occurred. The experimentation was performed with groups of 5, 10, 15, 20, 25 and 30 robots in three different scenes. Upon experimentation it was revealed, that for a swarm of 30 robots in a complex scene the path computing time does not exceed 7 s.

引用

页码：107 / 115

页数：9

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