Simulation analysis of morphology formation in multiple robotic system with local vision

摘要

This paper deals with circle formation capability of multiple robotic system by simple algorithm. Each robot has a specific range of communication to observe other robots. Each robot can recognize the number of other robots in four separated areas around itself by three states corresponding to the number of robots location the area (0, 1 or more than 2). According to those states, a robot acts either going forward or turning at each step. Using this algorithm, we carry out computer simulation with the focus on following parameters, division area size and robot number in a simulation space. We make it clear that generation quality of the circle formation is determined by a relationship among the robot number in the space and separated area size.