Centroidal Voronoi Partitioning using Virtual Nodes for Multi Robot Coverage

Nair, Vishnu G and Guruprasad, K R (2018) Centroidal Voronoi Partitioning using Virtual Nodes for Multi Robot Coverage. International Journal of Engineering and Technology(UAE), 7 (21). pp. 135-139. ISSN 2227-524X

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This paper addresses the problem of Voronoi partitioning using Centroidal Voronoi configuration for a multi-robotic coverage strategy known as Voronoi Partition based Coverage (VPC) algorithm. In VPC, the area to be covered is divided into Voronoi cells and each robot covers the corresponding cell. We use the concept of Centroidal Voronoi Configuration (CVC) to achieve a more uniform load distribution among the robots in terms of the area covered. Instead of the robots moving physically into the CVC, we introduce a concept of virtual nodes, which are deployed into CVC. Once the Voronoi partition is created based on the virtual nods, the robots cover the corresponding Voronoi cells. A gradient based control law has been used for deployment of the virtual nodes. Simulation results are provided to demonstrate the proposed deployment and partitioning scheme.

Item Type: Article
Uncontrolled Keywords: Centroidal Voronoi Configuration,Multi-robot coverage, Virtual nodes
Subjects: Engineering > MIT Manipal > Aeronautical and Automobile
Depositing User: MIT Library
Date Deposited: 27 Jun 2018 10:30
Last Modified: 27 Jun 2018 10:30
URI: http://eprints.manipal.edu/id/eprint/151381

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