Formation Pattern Based on Modified Cell Decomposition Algorithm

Abstract

The purpose of this paper is to present the shortest path algorithm for Quadrotor to make a formation quickly and avoid obstacles in an unknown area. There are three algorithms proposed in this paper namely fuzzy, cell decomposition, and potential field algorithms. Cell decomposition algorithm is an algorithm derived from graph theory used to create maps of robot formations. Fuzzy algorithm is an artificial intelligence control algorithm used for robot navigation. The merger of these two algorithms are not able to form an optimum formation because some Quadrotors which have been hovering should wait for the other Quadrotors which are unable to find the shortest distance to reach the formation quickly. The problem is that the longer time the multi Quadrotors take to make a formation, the more energy they use. It can be overcome by adding potential field algorithm. The algorithm is used to give values of weight to the path planning taken by the Quadrotors. The proposed algorithms have shown that multi Quadrotors can quickly make a formation because they are able to avoid various obstacles and find the shortest path so that the time required to get to the goal position is fast.