The Movement of Swarm Robots in an Unknown Complex Environment

摘要

This paper presents a method for swarm robots catching multiple moving targets without colliding any dynamic obstacles and other robots in an unknown complex environment. An imaginary map, including multi-layers corresponding to the number of robots, is built in which the starting position, the target, the obstacles, and the robot denoted by the highest position, the lowest position, the small hills, and the spherical ball on the map. The PSO algorithm was proposed to lead the robot to move on the map toward the given targets safely. Simulation results are also presented to show the feasibility of the method.