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| Swarm Robot Region Coverage Algorithm Combined with Bee Colony Activator Inhibition with Stimulus Response |
| CAO Yong, XIAO Renbin
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| School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China |
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Abstract In the regional coverage problem, it is necessary to coordinate and control the behavior of individuals and the distribution of swarm robots. This paper combines the principle of activator inhibition and the principle of stimulus response of bee colony, and proposes an algorithm (AISRA) combining activator inhibition and stimulation response. AISRA achieves close collaboration between individuals through the principle of activator inhibition; through individuals interaction, the distribution of robots in unknown regions is adjusted to give full play to the role of each robot. Simulation results and discussion show that AISRA can realize the cooperation between individuals and adjust the position distribution of robots, thereby improving regional coverage, reducing the number of repeated coverage, and improving the regional coverage efficiency of swarm robots.
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Received: 27 July 2019
Published: 21 January 2020
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