Research on coordination of multi-robots system based on swarm intelligence

SI (Swarm intelligence) is a new method for solving the distributed problem. It is based on the study about the sociality of some insects by researchers. SI emphasizes the distribution, the direct or indirect communication, the flexibility and the robustness. SI is mostly applied in optimization algorithm, network communication and robot system. In this paper, SI is applied to the cooperation and the coordination of multi-robots system. The purpose is to emerge group motion and swarm intelligence for the arbitrary amount of robots, which are randomly distributed in the environment full of obstacles, with local sense and mutual interaction among robots. Each robot only has five simple behaviors, namely DISTURB-ROBOT AVOID_ROBOT, AVOID_OBSTACLE, VELOCITY_MATCHING and FLOCK_CENTERING. The validity of the method is verified by simulation.