An Emergent Wall Following Behaviour to Escape Local Minima for Swarms of Agents

@inproceedings{Mabrouk2008AnEW,
  title={An Emergent Wall Following Behaviour to Escape Local Minima for Swarms of Agents},
  author={M. H. Mabrouk and C. R. McInnes},
  year={2008}
}
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 pairwise 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… CONTINUE READING