物联网环境下群体机器人协同演化机制研究  

Research on Cooperative Evolution Mechanism of Swarm Robots Based on IOT

作　　者：葛艳红[1] 李文锋[1] 董文涛[1] 

机构地区：[1]武汉理工大学物流工程学院,武汉430063

出　　处：《武汉理工大学学报》2012年第9期135-138,143,共5页Journal of Wuhan University of Technology

基　　金：湖北省国际合作重点项目(2011BFA012);国家科技部项目(20091g0116)

摘　　要：利用物联网协同感知技术获取群体机器人行为的状态信息分布、势场分布和群体行为演化目标。据此控制无线传感网络产生个体信息,形成"虚形体",诱导协助群体机器人行为的演化,从而形成一种基于传感器网络特征的诱导信息模型和群体行为控制算法。在不改变群集行为规则的情况下,通过传感器网络控制诱导信息的活动与布局,所提出的控制算法主动诱导控制群体行为。通过实例仿真验证了所提出算法的有效性。State information distribution,potential field distribution and evolution goal of swarm robots can be accessed by collaborative awareness technology based on Internet of Things（IOT）.Wireless sensor network nodes can be controlled to create individual information,which is called ＇virtual entity ＇.Virtual entity can be used to induce collaborative evolution of swarm robots.Induced information model based on characteristics of wireless sensor networks is built,and one swarm behavior control algorithm is proposed.The proposed algorithm can actively control swarm behavior through activity and layout of wireless sensor network without changing rules of swarm behavior.Effectiveness of the proposed control algorithm is validated by simulation experiments.

关 键 词：物联网 群体机器人 虚形体 协同演化 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]