A centroidal Voronoi tessellation based intelligent control algorithm for the self-assembly path planning of swarm robots

作者：

Highlights：

• Path planning control is a key technique for the self-assembly of swarm robots.

• A CVT based intelligent control algorithm is proposed for self-assembly path planning.

• Matlab simulations are performed to verify the effectiveness of the algorithm.

• The algorithm provides a promising way for self-assembly path planning of swarm robots.

摘要

•Path planning control is a key technique for the self-assembly of swarm robots.•A CVT based intelligent control algorithm is proposed for self-assembly path planning.•Matlab simulations are performed to verify the effectiveness of the algorithm.•The algorithm provides a promising way for self-assembly path planning of swarm robots.

论文关键词：Swarm robots,Self-assembly,Path planning,Centroidal Voronoi tessellation,Collaborative scheduling

论文评审过程：Received 30 April 2016, Revised 1 May 2017, Accepted 18 May 2017, Available online 19 May 2017, Version of Record 23 May 2017.

论文官网地址：https://doi.org/10.1016/j.eswa.2017.05.048