Area coverage searching for swarm robots using dynamic Voronoi-based method

The main challenge in swarm robots area coverage searching is how to design an efficient algorithm with self-organized and decentralized property. This paper proposed a dynamic Voronoi-based algorithm to solve the area coverage searching problem in decentralized control of sensors-based swarm robots. In the beginning, local coordinate system is established by initial position and the target area of the swarm robots by modified bacterial foraging optimization (MBFO). Then the target area is divided into Voronoi cells dynamically by the robots moving. The robots move following the concentration gradient of area by the MBFO algorithm. Simulation results proved the effectiveness of dynamic Voronoi-based algorithm.