A enhanced self-assembly morphology distributed control algorithm of swarm robots

Self-assembly of swarm robots is inspired by the swarm behaviors of the social insects. In this paper, we propose a enhanced self-assembling morphology distributed control algorithm of swarm robots based on the shortest distance priority. This algorithm optimizes the first two stages to directional navigation in the three stages of self-assembling morphology control including random walk, local navigation and autonomous docking. The directional navigation can improve the efficiency of self-assembly. We demonstrate the effectiveness of the algorithm in simulation-based experiment.