Wall following to escape local minima for swarms of agents using internal states and emergent behaviour

M. H. Mabrouk, C. R. McInnes

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Abstract

Natural examples of emergent behaviour, in groups due to interactions among the group's individuals, are numerous. Our aim, in this paper, is to use complex emergent behaviour among agents that interact via pair-wise attractive and repulsive potentials, to solve the local minima problem in the artificial potential based navigation method. We present a modified potential field based path planning algorithm, which uses agent internal states and swarm emergent behaviour to enhance group performance. The algorithm is used successfully to solve a reactive path-planning problem that cannot be solved using conventional static potential fields due to local minima formation. Simulation results demonstrate the ability of a swarm of agents to perform problem solving using the dynamic internal states of the agents along with emergent behaviour of the entire group.
Original languageEnglish
Title of host publicationProceedings of the World Congress on Engineering 2008
PublisherInternational Association of Engineers
Pages24-31
Number of pages8
Volume1
ISBN (Print)9789889867195
Publication statusPublished - 2008
EventInternational Conference on Computational Intelligence and Intelligent Systems, ICCIIS 08 - London, United Kingdom
Duration: 2 Jul 20084 Jul 2008

Conference

ConferenceInternational Conference on Computational Intelligence and Intelligent Systems, ICCIIS 08
CountryUnited Kingdom
CityLondon
Period2/07/084/07/08

Keywords

  • agent internal states
  • local minima escape
  • swarm emergent behaviour
  • wall following

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    Mabrouk, M. H., & McInnes, C. R. (2008). Wall following to escape local minima for swarms of agents using internal states and emergent behaviour. In Proceedings of the World Congress on Engineering 2008 (Vol. 1, pp. 24-31). International Association of Engineers.