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

Authors

Yang Wei, 1. Science and Technology on Electronic Test & Measurement Laboratory, North University of China, Taiyuan 030051, China;;2. Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education, North University of China, Taiyuan 030051, China;
Zeng Liang, 1. Science and Technology on Electronic Test & Measurement Laboratory, North University of China, Taiyuan 030051, China;;2. Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education, North University of China, Taiyuan 030051, China;
Xinchen Kang, 1. Science and Technology on Electronic Test & Measurement Laboratory, North University of China, Taiyuan 030051, China;;2. Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education, North University of China, Taiyuan 030051, China;

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.

Recommended Citation

Wei, Yang; Liang, Zeng; and Kang, Xinchen (2020) "Self-organizing Aggregation Behavior Modeling of Swarm Robots Based on Ant Colony Algorithm," Journal of System Simulation: Vol. 32: Iss. 2, Article 6.
DOI: 10.16182/j.issn1004731x.joss.17-9119
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss2/6

First Page

191

Revised Date

2018-06-21

DOI Link

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

Last Page

200

CLC

TP391.9

Recommended Citation

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.

DOI

10.16182/j.issn1004731x.joss.17-9119