A Motion Planning of Swarm Robots Using Genetic Algorithm

  title={A Motion Planning of Swarm Robots Using Genetic Algorithm},
  author={Chien-Chou Lin and Po-Yuan Hsiao and Kun-Cheng Chen},
  journal={2010 International Conference on Broadband, Wireless Computing, Communication and Applications},
In this paper, 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… CONTINUE READING