Simulation the behavior of robot sub-swarm in spatial corridors

Abstract

The article presents simulation of the robot swarm behavior, taking into consideration the model of robots dividing into sub-swarms to perform similar tasks within a limited spatial corridor. To avoid robots crashing with each other, the authors propose to use the three-dimensional (3D) bodies (sphere) instead of spatial points in the traveling salesman problem (TSP) solution. For simplifying the solution of such problem, it is proposed to solve 3D problem via concatenation of solving two 2D problems of moving sphere, as "salesmen" move in planes, limiting the spatial corridors. The sphere in this case moves on the vertical plane notwithstanding the spatial corridors. The proposed simulation model of the swarm robots behavior is described as dynamic smart system.