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Erschienen in:
2011 | OriginalPaper | Buchkapitel
An Enhanced Formation of Multi-robot Based on A* Algorithm for Data Relay Transmission
verfasst von : Zhiguang Xu, Kyung-Sik Choi, Yoon-Gu Kim, Jinung An, Suk-Gyu Lee
Erschienen in: Advances in Swarm Intelligence
Verlag: Springer Berlin Heidelberg
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This paper presents a formation control method of multi-robot based on A* algorithm for data relay transmission. In our system, we choose Nanotron sensor and compass sensor to execute the tasks of distance measurement, communication and obtaining moving direction. Since there exists data disturbance from Nanotron sensor when there is an obstacle between two robots. Therefore, we embed path planning algorithm information control. The leader robot (LR) knows the whole information of environment, and sends its moving information and corner information as a node to FRs. The FRs regard the node information which received from LR as temporary target to increase the efficiency of multi-robot formation by optimal path. From the simulations and experiments, we will show desirable results of our method.