Chemotaxis Based Virtual Fence for Swarm Robots in Unbounded Environments
| Autor: | Jordan H. Boyle, Mehmet R. Dogar, Simon O. Obute |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Fence (finance)
0209 industrial biotechnology Computer science Real-time computing Swarm robotics Boundary (topology) Swarm behaviour Chemotaxis 02 engineering and technology 020901 industrial engineering & automation Performance comparison 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing |
| Zdroj: | Biomimetic and Biohybrid Systems ISBN: 9783030247409 Living Machines |
| DOI: | 10.1007/978-3-030-24741-6_19 |
| Popis: | This paper presents a novel swarm robotics application of chemotaxis behaviour observed in microorganisms. This approach was used to cause exploration robots to return to a work area around the swarm’s nest within a boundless environment. We investigate the performance of our algorithm through extensive simulation studies and hardware validation. Results show that the chemotaxis approach is effective for keeping the swarm close to both stationary and moving nests. Performance comparison of these results with the unrealistic case where a boundary wall was used to keep the swarm within a target search area showed that our chemotaxis approach produced competitive results. |
| Databáze: | OpenAIRE |
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