Swarm Robots Using Lévy Flight for Targets Exploration

-Computer Simulation for Performance on Minimum Movement And Distribution of Targets-

Abstract

This study tackles the task for swarm robotics where robots explore the environment to detect many targets. When a robot detects a target, the robot must be connected with a base station via intermediate relay robots for wireless communication. In our previous results, we confirmed that Lévy flight outperformed the usual random walk for exploration strategy in real robot experiments. This paper investigated the performance of Lévy flight varying minimum movement in navigation through a series of computer simulations. The results suggest that the search efficiency of Lévy flight has an optimal value for minimum movement and the overall target detection rate was not significantly different between environments with uniformly and non-uniformly distributed targets.