Abstract：The definition, classification and application of coverage are summarized. Formalized definition of terrain coverage problem is discussed adopting triples notation. After briefly introducing the response threshold model of wasp swarm, the area coverage algorithm of swarm robots based on response threshold model during the terrain coverage process is depicted in detail. The analysis of the relationship of average moving probability, response threshold and stimulus are described to guide the selection of response threshold. Finally, the relationships of area coverage rate, duplicated coverage number of cell, response threshold and stimulus are discussed by simulation experiments, which are executed on different terrain scale, the number of robots and response thresholds. Simulation results show that the proposed algorithm is effective and feasible.
2011, Vol. 24 
