Research And Simulation Implementation On Swarm Self-assembly Path-planning

Self-assembly is an effective way for swarm robots to achieve various target configurations.Some research results have been achieved at home and abroad.Path planning is a key issue in the implementation of swarm robot's self-assembly.It affect the applicability of self-assembly target solutions and the time Liness of self-assembly.The goal of path planning is to complete self-assembly target configuration tasks with different degrees of complexity in a short time.This thesis focuses on the research of swarm robot's path planning methods in two environments: obstacle and obstacle-free environments.The specific work is as follows:1.Aiming at the self-assembly planning of swarm robots in an obstacle-free environment,we proposed a VBIT algorithm based on Voronoi's Boundary Intersection Tessellation.First draw the corresponding Voronoi diagram according to the position of each swarm robot.Then use the Hungarian algorithm to assign the corresponding relationship between the robot and the target.Use the intersection between the robot and the target and the cell where the robot is located as the starting point for the next robot movement.Target configuration reached after multiple iterations.Experimental results prove that the algorithm can achieves most target configurations in a two-dimensional environment and can complete self-assembly tasks in a short time.2.Self-assembly planning for swarm robots in obstacle environments.Based on the above-mentioned obstacle-free environment,a method combining a second-order oscillating chicken flock algorithm(OCSO)and cubic sp Line interpolation is used to plan the path for each robot.Each robot moves along this path to the intersection of the path and the cell where the robot is located,and achieves the target configuration after multiple iterations.Experimental results prove that the improved algorithm can meet the requirements.