Wasp swarm algorithm on terrain coverage in obstacle environments

Terrain coverage algorithm based on response threshold of wasp swarm in swarm robotics is inspired of the division labor of wasp swarm. Robots decide their moving directions by sensing their local environments, and finish the task of terrain coverage cooperatively. In this paper, we introduce the problem model of terrain coverage in swarm robotics, the response threshold model of wasp swarm, and describe the moving strategy of swarm robots based on response threshold model in obstacle environments in detail. The coverage performance of the algorithm is analyzed through various shapes of obstacle in simulation experiments, such as the rate of cell coverage, duplicated coverage number of cell and coverage time. Simulation results show the method is effective and feasible.