A Self-Organizing Area Coverage Method for Swarm Robots Based on Gradient and Grouping

The openness of the environment brings great challenges to swarm robotic system cover task area quickly and effectively. In this paper, a coverage method based on gradient grouping (GGC) is proposed. What novel about our proposed solution that it suitable for extremely simple robots lack computing or storage power. Through change robot gradient, with very functions can effectively self-organize unknown area. By robots, each group in parallel, which greatly improves speed. We verified through experimental simulation found grouping-based paper was superior other methods terms coverage, completion time, aspects. Simultaneously, robustness analyzed admirable results are obtained. Because applicable simple, be applied submillimeter system, will lay foundation micro medicine.