Swarm Robotics and Rapidly Exploring Random Graph Algorithms Applied to Environment Exploration and Path Planning
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2019, Vol 10, Issue 5
Abstract
We propose an efficient scheme based on a swarm robotics approach for exploring unknown environments. The initial goal is to trace a map which is later used to find optimal paths. The algorithm minimizes distance and danger. The proposed scheme consists in three phases: exploration, mapping and path optimization. A cellular automata approach is used for the simulation of the fist two phases. For the exploration phase, a stigmergy approach is applied in order to allow for swarm communication in a implicit way. For the path planning phase a hybrid method is proposed. First an adapted Rapidly-exploring Random Graph algorithm is used and then a scalarized multiobjective technique is applied to find the shortest path.
Authors and Affiliations
Cindy Calder´on-Arce, Rebeca Solis-Ortega
Keywords
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- EP ID EP579376
- DOI 10.14569/IJACSA.2019.0100586
- Views 113
- Downloads 0
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