| CPC B25J 9/161 (2013.01) [B25J 9/1664 (2013.01); G05D 1/02 (2013.01)] | 17 Claims |
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1. A swarm robot control apparatus comprising:
an area designation unit that designates a plurality of assigned areas for a plurality of robots based on respective current locations of the plurality of robots including a first robot;
a start point selection unit that selects one of a plurality of moving points defined by a first assigned area of the plurality of assigned areas as a start moving point for the first robot, based on information on distances between the first robot and the plurality of moving points of the first assigned area defined for the first robot and information on whether one or more of the plurality of moving points is previously selected by other robots among the plurality of robots; and
a robot controller that moves the first robot to the start moving point selected by the start point selection unit,
wherein each of the plurality of moving points is a vertex of a plurality of vertices that define a cell of a Voronoi diagram,
wherein the first robot performs a movement by circularly traversing each of the plurality of vertices, and the start moving point of the movement is one of the plurality of vertices,
wherein the start moving point for each of the plurality of robots is determined sequentially and the robot controller moves each of the plurality of robots to a corresponding start moving point simultaneously after the start moving point for each of the plurality of robots is determined.
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