Bioinspired Environment Exploration Algorithm in Swarm Based on Lévy Flight and Improved Artificial Potential Field

نویسندگان

چکیده

Inspired by the behaviour of animal populations in nature, we propose a novel exploration algorithm based on Lévy flight (LF) and artificial potential field (APF). The agent is extended to swarm level using APF method through LF search environment. Virtual leaders generate moving steps explore environment mechanism. To achieve collision-free movement an unknown constrained environment, swarm-following mechanism established, which requires agents follow virtual leader carry out LF. proposed method, combining advantages effect flocking does not rely complex sensors for labelling, memorising, or huge computing power. Agents simply perform elegant efficient behaviours as natural creatures adapt change formations. especially suitable camouflaged bionic robots such flapping drones. Simulation experiments real-world E-puck2 were conducted evaluate effectiveness LF-APF algorithm.

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ژورنال

عنوان ژورنال: Drones

سال: 2022

ISSN: ['2504-446X']

DOI: https://doi.org/10.3390/drones6050122