Design for autonomous self-organizing target detection system based on artificial swarms

Using multiple robots to form artificial swarms and using methods of self-organization to carry out collective cooperation to fulfill complex tasks are hotspots in researches of robotic control. Artificial swarms with the advantages of distribution, flexibility, robustness, autonomy and so on, will be the main approach to accomplish the complex tasks, such as distributed wireless network, distributed environment detecting. In this paper, the methods of artificial swarms were used to design an Autonomous Self-Organizing Target Detection System (ASOTDS). The theoretical model and the overall requirement were established. The motion strategy of the autonomous mobile platform was designed via virtual potential field. The simulation results showed that using methods of virtual potential field to build an ASOTDS can realize a close and multi-angled surveillance of a pre-designated spots.