I.Mir and B.P. Amavasai
Microsystems and Machine Vision Laboratory,
Materials and Engineering Research Institute,
Sheffield Hallam University, Pond Street, Sheffield S1 1WB, United Kingdom.
E-mail: mir_immad@yahoo.com
Web: https://www.shu.ac.uk/research/meri/mmvl
created with NetLogo
view/download model file: Incremental Perception V2-1.nlogo
As a continuation of our previous research, this model presents improved behavioural model based upon the initial model presented in [1]. Our previous model was based on a hybrid architecture; the swarm behaved both in centeralised and decenteralised fashions as per requirement of the situation. It also involved limited intervention of a centeral controller.
The present model improves upon the techniques developed during our previous research. The basic algorithms for movement models and collision avoidance have been improved. The agents are not only able to show improved behaviours found in the previous model, they can also avoid obstacles now. They gather around the object in a different way now, which can be analysed by turning the 'traceRoute' switch on.
Our research continues and the model you see is not yet finalized.
The swarm starts by searching an object and while doing so, the agents try to avoid collisions with each other and also avoid any obstacles now.
Once a robot touches an object, it follows the boundary of the object if there is another robot that has already found it. The agent stops as soon as it finds another stationary agent and then faces the object.
A techniqie is being developed that would enable the swarm to detect on the fly whether a closed loop has been found around an object or not.
To start with, use the following configuration:
antPopulation = 40
signalRadius = 6
fieldDefiance = 2
antVision = 20
objectShape = 'bar'
objectWeight = 16
rPower = 1
The system will not converge if inappropriate values of objectWeight and rpower are used. This is only logical, because a 'weak' swarm might not be able to carry a heavy object.
1. I. Mir, B.P.Amavasai and S.Meikle, "Incremental Perception in Robotic Swarms"; In proceedings of IEEE INMIC2006 December 23-24, 2006. *
* In press