Intelligent Decision Making and Bionic Movement Control of Self-Organized Swarm
Dengxiu Yu, C. L. Philip Chen, Hao Xu
Abstract
In this article, we propose the intelligent decision making and bionic movement control of self-organized swarm. Swarm intelligent decision making can provide swarm path planning. Bionic movement control of self-organized swarm can simultaneously generate swarm formation, realize formation switching, and drive swarm while avoiding collision and preserving the existing communication topology. When the swarm topology switches, the swarm intelligent decision making is introduced to find out the optimal route between the initial position and destination for each intelligent unit. We propose an enhanced genetic algorithm (GA) to realize swarm intelligent decision making. Avoiding collision and preserving the existing communication topology should be achieved during the process of swarm moving. As a result, we design a new swarm motion potential function, which can realize bionic movement control. The stability of bionic movement control is proved to be effective in the collision avoidance, connectivity preservation, and formation generation. Simulation results and experiment results show that the enhanced GA and swarm motion potential function are effective.