A New Decentralized Planning Strategy for Flocking of Swarm Robots

Abstract

In this paper, we present a new decentralized planning strategy, named Triangular Formation Algorithm (TFA), for swarm robots. This strategy is expanded to large scale swarm by utilizing an appropriate neighbour selection method. For swarm obstacle avoidance, a simplified artificial physical model is introduced to work with the TFA. Simulation results showed that the swarm behaviours such as aggregation, flocking and obstacle avoidance in an unknown environment are achieved effectively.