Heuristic Algorithm with Directional Variable on Terrain Coverage of Swarm Robotics
Guoyou Zhang · Journal of Taiyuan University of Science and Technology · 2011
This paper is focusing on the problem of swarm robots' repeated covering the same grid when they encounter,in which the real-time heuristic algorithm based on grid map is used to finish the terrain coverage.The meeting times of swarm robots are reduced by decreasing the turning times as they are moving,so the times of their concurrently covering the same grid are reduced.According to this idea,a directional variable is introduced in the algorithm and a novel real-time heuristic algorithm on terrain coverage of swarm robotics was formed.Finally,the simulation experiments proved that the method was effective.