최적 운반을 활용한 확률적 군집 경로 계획 알고리즘 A Probabilistic Swarming Path Planning Algorithm using Optimal Transport

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 121
  • Download : 0
In this paper, we describe a probabilistic swarming path planning algorithm based on optimal transport. This algorithm has been developed based on the basic concept of controlling the density of discretized regions of given environment and can be effectively applied to large-sized swarms. The proposed algorithm abstracts the given environment by using centroidal Voronoi tessellation and obtains optimal transport plan through optimal transport algorithm. Voronoi diagram based collision avoidance also considered to design a collision-free path planning algorithm. Through several simulations, we confirmed that the proposed algorithm operates successfully in various scenarios.
Publisher
제어로봇시스템학회
Issue Date
2018-09
Language
Korean
Citation

Journal of Institute of Control, Robotics and Systems, v.24, no.9, pp.890 - 895

ISSN
1976-5622
DOI
10.5302/J.ICROS.2018.18.0117
URI
http://hdl.handle.net/10203/247150
Appears in Collection
EE-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0