Antbots: A feasible visual emulation of pheromone trails for swarm robots

Abstract

In this paper we present an experimental setup to model the pheromone trail based foraging behaviour of ants using a special phosphorescent glowing paint. We have built two custom addons for the e-puck robot that allow for trail laying and following on the glowing floor, as well as a way for the robots to mimic the ants capability of using polarization patterns as a means of navigation. Using simulations we show that our approach allows for efficient pathfinding between nest and potential food sources. Experimental results show that our trail and sun compass add-on boards are accurate enough to allow a single robot to lay and follow a trail repeatedly. © 2010 Springer-Verlag Berlin Heidelberg.