Simulation the Behavior of Robot Sub-Swarm In Spatial Corridors

被引：0

作者：

Musiyenko, M. P. ^{[1
]}

Zhuravska, I. M. ^{[1
]}

Kulakovska, I. V. ^{[2
]}

Kulakovska, A. V. ^{[2
]}

机构：

[1] Petro Mohyla Black Sea State Univ, Dept Inf Technol & Software Syst, Mykolaiv, Ukraine

[2] Petro Mohyla Black Sea State Univ, Dept Intelligent Inform Syst, Mykolaiv, Ukraine

来源：

2016 IEEE 36TH INTERNATIONAL CONFERENCE ON ELECTRONICS AND NANOTECHNOLOGY (ELNANO) | 2016年

关键词：

robot sub-swarm; UAV; UGV; spatial corridor; Traveling Salesman Problem (TSP); 2D&3D simulation;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The article presents simulation of the robot swarm behavior, taking into consideration the model of robots dividing into sub-swarms to perform similar tasks within a limited spatial corridor. To avoid robots crashing with each other, the authors propose to use the three-dimensional (3D) bodies (sphere) instead of spatial points in the traveling salesman problem (TSP) solution. For simplifying the solution of such problem, it is proposed to solve 3D problem via concatenation of solving two 2D problems of moving sphere, as "salesmen" move in planes, limiting the spatial corridors. The sphere in this case moves on the vertical plane notwithstanding the spatial corridors. The proposed simulation model of the swarm robots behavior is described as dynamic smart system.

引用

页码：382 / 387

页数：6

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