An expanded square pattern technique in swarm of quadcopters for exploration algorithm

Zuhri, Muhammad Fuad Reza and Ismail, Amelia Ritahani (2017) An expanded square pattern technique in swarm of quadcopters for exploration algorithm. Journal of Theoretical and Applied Information Technology, 95 (20). pp. 5484-5493. ISSN 1992-8645 E-ISSN 1817-3195

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Abstract

The exploration algorithm is one of the most important roles in the searching mechanism. In robotics field, the exploration algorithm deals with the implementation of the robot to enlarge the information over a particular environment. In other words, the implementation of exploration algorithm into a robot is intended to survey the situation or condition of a specific area. A variety of techniques has been developed, even the biological systems also become an inspiration to be reckoned. In this paper, we proposed a swarmbased exploration algorithm with expanded square pattern using a quadcopter to explore an unknown area. In this algorithm, the expanded square pattern is conducted by a series of distance around a fixed reference point. We simulate the swarm-based exploration algorithm with expanded square pattern using a VREP simulator. The existing exploration algorithms that have been identified are also simulated to be compared with the proposed algorithm. In order to analysed and evaluate the performance of all algorithms, the data of simulation is documented. Some comparisons are conducted such as the performance of all algorithms, the performance of a group of the quadcopter, the covered spaces and the cooperation among groups.

Item Type:	Article (Journal)
Additional Information:	4296/59346
Uncontrolled Keywords:	Coordinated exploration; Path planning; Quadcopter; Swarm robot
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Information and Communication Technology > Department of Computer Science Kulliyyah of Information and Communication Technology > Department of Computer Science
Depositing User:	Amelia Ritahani Ismail
Date Deposited:	16 Nov 2017 11:44
Last Modified:	12 Mar 2018 10:48
URI:	http://irep.iium.edu.my/id/eprint/59346

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