Research on Region Coverage Approach with Swarm Robots

An auto deployment approach of swarm robots is studied to cover a target region with random shape. The deployment approach consists of two stages:model generation phase and robot deployment phase. In the model generation phase, an intelligent optimization algorithm is used to get a point cloud, which can represent the optimal deployment positions of robots. Then, the point cloud is mapped to a graph model. On this basis, the robot deployment problem is transformed into a pattern formation problem of swarm robots. A set of behavior laws are designed to drive robots to move according to the graph model, and to achieve the desired pattern. Simulation experiments are performed to demonstrate that the pattern formation method can form complex patterns with around 30 robots. And the proposed method is then verified with real robots.