Abdel Wahid, Mohamed Hussien Mabrouk and McInnes, Colin (2007) Swarm potential fields with internal agent states and collective behaviour. In: Proceedings of the 10th British Conference on Mobile Robotics, Towards Autonomous Robotic Systems Conference, TAROS2007. Elsevier Science, pp. 90-96.
Download (200kB) | Preview
Swarm robotics is a new and promising approach to the design and control of multi-agent robotic systems. In this paper we use a model for a system of self-propelled agents interacting via pairwise attractive and repulsive potentials. We develop a new potential field method using dynamic agent internal states, allowing the swarm agents' internal states to manipulate the potential field. This new method successfully solves a reactive path planning problem that cannot be solved using static potential fields due to local minima formation. Simulation results demonstrate the ability of a swarm of agents that use the model to perform reactive problem solving effectively using the collective behaviour of the entire swarm in a way that matches studies based on real animal group behaviour.
|Item type:||Book Section|
|Keywords:||swarm potential fields, robotics, swarm robotics, internal agent states, collective behaviour, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics|
|Subjects:||Technology > Mechanical engineering and machinery
Technology > Motor vehicles. Aeronautics. Astronautics
|Department:||Faculty of Engineering > Mechanical and Aerospace Engineering|
|Depositing user:||Strathprints Administrator|
|Date Deposited:||06 Apr 2009 15:39|
|Last modified:||17 Jun 2015 23:58|
Actions (login required)