Analysis and verification of terrain coverage algorithm based on wasp swarm

摘要

Terrain coverage is one of basic problems in swarm robotics. Terrain coverage algorithm based on wasp swarm is a novel terrain coverage algorithm which is inspired by wasp division labour expressed by wasp response threshold. This paper introduces the terrain coverage algorithm based on wasp swarm and applies average probabilistic method to analyse the coverage performance of algorithm, which makes it possible to guide the selection of parameters in our algorithm. Final results show that the analysis results are basically in accordance with that of simulation. The mathematical method is effective under some constraint conditions.