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Cooperative Multi-robot Searching Algorithm

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Intelligent Autonomous Systems 12

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 194))

Abstract

The problem of multi-robot for searching mission with fully communicative known environment is considered in this paper. Robots are required to maneuver every part of the given environment repeatedly until they find a target object. In order to increase the effectiveness of deploying the mult-robot, they need to be spread out sufficiently, not overlapping the searching area with other robots. To achieve this, we proposed an algorithm about deploying the multi-robot with maximizing the on-line coverage of the searching area. A shared dynamic map and its updating algorithm is proposed. Robots find next exploration area autonomously while updating the shared dynamic map. The algorithm is tested by simulation and the result is presented.

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Author information

Authors and Affiliations

  1. ETRI, 218 Gajeongro, Yuseonggu, Daejeon, 305-700, Korea

    Seohyun Jeon, Minsu Jang, Daeha Lee & Young-Jo Cho

Authors
  1. Seohyun Jeon
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  2. Minsu Jang
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  3. Daeha Lee
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  4. Young-Jo Cho
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Corresponding author

Correspondence to Seohyun Jeon .

Editor information

Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

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© 2013 Springer-Verlag Berlin Heidelberg

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Jeon, S., Jang, M., Lee, D., Cho, YJ. (2013). Cooperative Multi-robot Searching Algorithm. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_70

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  • DOI: https://doi.org/10.1007/978-3-642-33932-5_70

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33931-8

  • Online ISBN: 978-3-642-33932-5

  • eBook Packages: EngineeringEngineering (R0)

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