One of the current challenges in the development of swarm robots is making them realize obstacle avoidance while keeping formation. This paper proposes a new obstacle avoidance method for multiple robots based on the aggregation and disaggregation approach. First, the formation-based multi-resolution models of swarm robots are presented and the formation attribute-based consistency mapping functions are designed. Then, obstacle avoidance behavior based on aggregation and disaggregation method is presented and the basic obstacle avoidance behaviors are designed. Finally, the simulation results are presented to show the feasibility of the proposed method.

No abstract

Abstract-In order to improve the poor reality and bad flexibility of the mapping relationship which matched entities with aim locations in traditional approximation method, the formation vector shortest path-planning method was presented in this paper. By analyzing the lack of aim path-planning in the approximation method, shortest path-planning was discussed and was improved by introducing the formation vector and the idea of pheromone. Furthermore, the improved algorithm was applied in a CGF simulation system. The experimental results showed that the mapping relationship had better reality and rationality and the possibility of collision was significantly reduced than the traditional formation change process.