Improved Algorithm of Terrain Coverage Based on Wasp Swarm in Swarm Robotics
Guoyou Zhang, Jianchao Zeng · International Conference on Electronics, Communications and Control · 2012
Terrain coverage algorithm based on response threshold of wasp swarm in swarm robotics is inspired of the division labor of wasp swarm. Robots decide their moving directions by sensing their local environments, and finish the task of terrain coverage cooperatively. In this paper, we introduce the variable response threshold model of wasp swarm in terrain coverage, and describe the improved terrain coverage algorithms based on response threshold model in detail. Robots change their response threshold in terms of moving probability or the history of decision. The coverage performance of the algorithm is analyzed in free closed environment and the obstacle environments in simulation experiments, such as the rate of cell coverage, duplicated coverage number of cell and coverage time. Simulation results show the method is effective and feasible.