Affine Transformation for Swarm Formations by Generalized Ant Colony Optimization

Any formation change of swarms in the natural environment is one of basic problems of coordination. A new transformation scheme for a man-made swarm formation is proposed, in this paper, by using the algorithms of affine transformation with respect to generalized ant colony optimization (GACO). The affine transformation algorithm can pre-determine target positions for each member of the swarm, while the GACO algorithm can help swarm members find the shortest paths to the positions. The coordinating action between swarm members is obtained by the sense and communication technology, which is equipped in each member. The technology can help the member perceive its neighbors as well as obstacles in the natural environment including a blind area. Therefore, the man-made swarm can change its formation to the new one without any collision. The simulations show that the proposed scheme is effectively used in a seven-member swarm transformation by Star-Logo.