Picture of athlete cycling

Open Access research with a real impact on health...

The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of Open Access research papers by Strathclyde researchers, including by researchers from the Physical Activity for Health Group based within the School of Psychological Sciences & Health. Research here seeks to better understand how and why physical activity improves health, gain a better understanding of the amount, intensity, and type of physical activity needed for health benefits, and evaluate the effect of interventions to promote physical activity.

Explore open research content by Physical Activity for Health...

Wall following to escape local minima for swarms of agents using internal states and emergent behaviour

Mabrouk, Mohammed H. and McInnes, Colin R. (2008) Wall following to escape local minima for swarms of agents using internal states and emergent behaviour. In: Proceedings of the World Congress on Engineering 2008. International Association of Engineers (IAENG), pp. 24-31. ISBN 978-988-98671-9-5

[img]
Preview
PDF (strathprints006968.pdf)
strathprints006968.pdf

Download (391kB) | Preview

Abstract

Natural examples of emergent behaviour, in groups due to interactions among the group's individuals, are numerous. Our aim, in this paper, is to use complex emergent behaviour among agents that interact via pair-wise attractive and repulsive potentials, to solve the local minima problem in the artificial potential based navigation method. We present a modified potential field based path planning algorithm, which uses agent internal states and swarm emergent behaviour to enhance group performance. The algorithm is used successfully to solve a reactive path-planning problem that cannot be solved using conventional static potential fields due to local minima formation. Simulation results demonstrate the ability of a swarm of agents to perform problem solving using the dynamic internal states of the agents along with emergent behaviour of the entire group.