By Topic

Dynamic Swarm Formation with Potential Fields and A* Path Planning in 3D Environment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Bentes, C. ; Inst. Tecnol. de Aeronaut. (ITA), São José dos Campos, Brazil ; Saotome, O.

A dynamic swarm formation based in artificial potential fields is presented and extended to 3D environments. A dynamic technic to adjust the swarm configuration when avoiding obstacles is also proposed. Using potential fields in conjunction with a global planner like the A* algorithm allows the navigation through an environment in presence of obstacles. The global planner finds an obstacle free path using a discrete representation of the world and this path is used to guide the center of the swarm formation. Potential field is used to control the swarm formation and to avoid obstacles locally when travelling the planned path. Simulation results are presented for swarm of particles of different sizes in 2D and 3D worlds.

Published in:

Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian

Date of Conference:

16-19 Oct. 2012