Self-organizing Aggregation Behavior Modeling of Swarm Robots Based on Ant Colony Algorithm

doi:10.16182/j.issn1004731x.joss.17-9119

Abstract

Abstract: Aiming at the formation of aggregation behavior model of swarm robots, a self-organizing motion model based on particle system mechanics and perceptual state weighting is established to realize the autonomous transfer of robot motion state. The aggregation degree and uniformity index of aggregation behavior are established, and the aggregation performances of different models are analyzed by experiment, which lay a foundation for the formation of self-organized aggregation behavior model of swarm robots. Using the selected model, the self-organizing aggregation behavior simulation experiments are conducted in two cases with boundary constraints and no boundary constraints. The maximum coverage of different groups of scale is realized, and the correctness of the model is verified.

Key words: ant colony algorithm, swarm robots, self-organization, aggregation, motion model

CLC Number:

TP391.9

Yang Wei, Zeng Liang, Kang Xinchen. Self-organizing Aggregation Behavior Modeling of Swarm Robots Based on Ant Colony Algorithm[J]. Journal of System Simulation, 2020, 32(2): 191-200.

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