A Motion Planning of Swarm Robots Using Potential-Based Genetic Algorithm

碩士 === 樹德科技大學 === 資訊工程系碩士班 === 98 === In this thesis, a potential-based genetic algorithm is proposed for formation control of robot swarm. The proposed algorithm consists of a global path planner and a motion planner. The global path planning algorithm searches a path, which the center of robot swa...

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Bibliographic Details
Main Authors:	Po-Yuan Hsiao, 蕭博元
Other Authors:	Chun-Li Lin
Format:	Others
Language:	zh-TW
Published:	2010
Online Access:	http://ndltd.ncl.edu.tw/handle/51258053002644831949

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spelling	ndltd-TW-098STU053920052015-10-13T18:35:09Z http://ndltd.ncl.edu.tw/handle/51258053002644831949 A Motion Planning of Swarm Robots Using Potential-Based Genetic Algorithm 以位能場模型為基礎之群組機器人移動規劃 Po-Yuan Hsiao 蕭博元碩士樹德科技大學資訊工程系碩士班 98 In this thesis, a potential-based genetic algorithm is proposed for formation control of robot swarm. The proposed algorithm consists of a global path planner and a motion planner. The global path planning algorithm searches a path, which the center of robot swarm should follow, within a Voronoi diagram of the free space. The motion planning is a genetic algorithm based on artificial potential models. The potential functions are used as a repulsion to keep robots away from obstacles and as an attraction/repulsion to keep robot swarm within a certain distance. With Voronoi diagram and potential models, the algorithm plans safe paths efficiently and the formation of robot swarm is also maintained. Chun-Li Lin 林峻立 2010 學位論文 ; thesis 76 zh-TW
collection	NDLTD
language	zh-TW
format	Others
sources	NDLTD
description	碩士 === 樹德科技大學 === 資訊工程系碩士班 === 98 === In this thesis, a potential-based genetic algorithm is proposed for formation control of robot swarm. The proposed algorithm consists of a global path planner and a motion planner. The global path planning algorithm searches a path, which the center of robot swarm should follow, within a Voronoi diagram of the free space. The motion planning is a genetic algorithm based on artificial potential models. The potential functions are used as a repulsion to keep robots away from obstacles and as an attraction/repulsion to keep robot swarm within a certain distance. With Voronoi diagram and potential models, the algorithm plans safe paths efficiently and the formation of robot swarm is also maintained.
author2	Chun-Li Lin
author_facet	Chun-Li Lin Po-Yuan Hsiao 蕭博元
author	Po-Yuan Hsiao 蕭博元
spellingShingle	Po-Yuan Hsiao 蕭博元 A Motion Planning of Swarm Robots Using Potential-Based Genetic Algorithm
author_sort	Po-Yuan Hsiao
title	A Motion Planning of Swarm Robots Using Potential-Based Genetic Algorithm
title_short	A Motion Planning of Swarm Robots Using Potential-Based Genetic Algorithm
title_full	A Motion Planning of Swarm Robots Using Potential-Based Genetic Algorithm
title_fullStr	A Motion Planning of Swarm Robots Using Potential-Based Genetic Algorithm
title_full_unstemmed	A Motion Planning of Swarm Robots Using Potential-Based Genetic Algorithm
title_sort	motion planning of swarm robots using potential-based genetic algorithm
publishDate	2010
url	http://ndltd.ncl.edu.tw/handle/51258053002644831949
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A Motion Planning of Swarm Robots Using Potential-Based Genetic Algorithm

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