Swarm Crawler Robots Using Lévy Flight in Targets Exploration
Yoshiaki Katada, Sho Hasegawa, Naoki Okazaki · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2020
This study tackles the task for swarm robotics where robots explore the environment to detect many targets. When a robot detects a target, the robot must be connected with a base station via intermediate relay robots for wireless communication. In our previous results, we confirmed that Lévy flight outperformed the usual random walk for exploration strategy in an indoor environment This paper investigated the performance of Lévy flight on many targets detection problem in an outdoor environment through a series of real crawler robots experiments. The result suggests that the swarm robots were not able to find all the target in a given time and there were several positions of the targets which the robots were not good at finding.