Swarm robotics and rapidly exploring random graph algorithms applied to environment exploration and path planning

Cindy Calderón-Arce, Rebeca Solis-Ortega

Research output: Contribution to journalArticlepeer-review

6 Scopus citations

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 Rapidlyexploring Random Graph algorithm is used and then a scalarized multiobjective technique is applied to find the shortest path.

Original languageEnglish
Pages (from-to)692-702
Number of pages11
JournalInternational Journal of Advanced Computer Science and Applications
Volume10
Issue number5
DOIs
StatePublished - 2019

Keywords

  • Cellular automata
  • Path planning
  • Rapidly-exploring Random Graph (RRG)
  • Scalarized multiobjective optimization
  • Swarm robotics

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