Behavior-Based Formation Control of Swarm Robots

Algorithm 1

The main steps of the target searching algorithm.

(1) Initialize Ω_𝑅={𝑅₀,𝑅₁,…,𝑅_𝑛−1}, Ω_𝑇={𝑇₀,𝑇₁,…,𝑇_𝑛−1},

  set PRI=𝑛, which represents the priority and when 𝑛=0,

  the priority is highest.

(2) repeat (for each robot in the formation)

(3)   Search the target position nearest to 𝑅_𝑖=Ω_𝑅 and

  denote the distance as 𝑑_𝑖. If there are several 𝑑_𝑖 with the

  same value, the target position will be chosen randomly.

(4)     Set 𝑑_𝑚=max𝑑_𝑖, PRI=PRI−1. Assume that 𝑑_𝑚 is

  the distance between 𝑅_𝑗∈Ω_𝑅 and 𝑇_𝑎∈Ω_𝑇. Then 𝑇_𝑎 is

  the target position of 𝑅_𝑗 with the priority of PRI.

(5)   Set Ω_𝑅=Ω_𝑅−{𝑅_𝑗},Ω_𝑇=Ω_𝑇−{𝑇_𝑎}.

(6) until   Ω_𝑅=Ø,