A swarm intelligence labour division approach to solving complex area coverage problems of swarm robots

摘要

The complex area coverage problem is classical and widespread in the research field of swarm robots. In order to solve the complex area coverage problem with complex nonlinear boundary and special task area (forbidden area or threat area), firstly, the task area is adjusted and grid discretisation. Then, inspired by the labour division phenomenon of typical biological groups such as bee colony and ant colony, the paper analyses the performance characteristics of typical ant colony labour division model (response threshold model) and bee colony labour division model (activation-inhibition model) from the perspectives of individual and environment, individual and individual, and a new swarm intelligence labour division approach (activation-inhibition response threshold algorithm) to solve the complex area coverage problem of swarm robot. Three experiments are carried out to illustrate that the algorithm are endowed with great ability of area coverage and dynamic environment. It can respond to the sudden threat in time and make an efficient response, which has a good practical application prospects.