Heuristic Group Robot Area Coverage Algorithm And Rounded Strategy

The problems of swarm robotics should be solved by the theory and methods that based on the analysis of the architecture of the swarm robots system, since the characteristics of the swarm robots system are very different from the single robot system and multi-robots system.At first, the problem is focused on, that the swarm robots'covering the same grid at the same time when they encounter, which use the real-time heuristic algorithm to finish the terrain coverage under the unknown environment. The meeting times of the swarm robots are reduced by decreasing the turning times while they are moving, so the times of their concurrently covering the same grid are reduced. Based on this idea, a directional variable is introduced in the algorithm and forming a novel real-time heuristic algorithm on terrain coverage of swarm robotics. The results of the simulation experiments show the novel algorithm is effective.Afterward, the structured environment of the terrain coverage is focused on. The structured environment is abstracted by some rules and the efficiency of the swarm robots system is analyzed, which use the real-time heuristic algorithm to finish the terrain coverage under the structured environment. The results of the simulation experiments show the real-time heuristic algorithm is also effective in the structured environment. Furthermore, the novel real-time heuristic algorithm with the directional variable is not sensitive to the complexity of the structured environment and can adapt well to the complex structured environment.At last, the pursuit evasion game of swarm robotics under the unknown environment is focused on. Enlightened by the capturing process of the swarm animals in the nature, the solving process of the problem should be divided into three steps. At the first step, the swarm robots should be patrolling the area. At the second step, the robot moving with the prey and send the message to the others of the swarm robots system after it discovered the prey. At the third step, the robots capture the prey and the pursuit evasion game is over after the number of the robots which moving with the prey equals the required threshold. In the first step, the real-time heuristic covering algorithm of swarm robots is introduced to finish the patrol of the area and modified with the second and the third step. Therefore, these form a novel strategy of the swarm robots'pursuit evasion game under the unknown environment, which based on the real-time heuristic covering algorithm of swarm robots. In the end, the results of the simulation experiments show the novel strategy is effective.