干扰素调节的多机器人协作搬运免疫网络算法  

Multi-robot cooperative handling based on immune network algorithm regulated by interferon

作　　者：袁明新[1] 叶兆莉[1] 程帅[1] 申燚[1] 

机构地区：[1]江苏科技大学机电与汽车工程学院,江苏张家港215600

出　　处：《智能系统学报》2014年第1期76-82,共7页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金资助项目(61105071);江苏省高校青蓝工程优秀青年骨干教师资助项目(苏教师[2012]39号);江苏科技大学人才引进项目(35271004)

摘　　要：为了进一步发挥多机器人系统在协作搬运过程中的执行效率,提出了一种新的基于干扰素调节的免疫网络分配算法。将箱子和机器人分别看作抗原和抗体,首先定义了抗原和抗体之间以及抗体和抗体之间的亲和度;然后根据干扰素作用机制定义了干扰素调节因子;最后借鉴Jerne的独特型免疫网络假设,建立了多机器人协作搬运的新免疫分配模型。多环境测试结果表明:与其他免疫分配算法相比,新算法不仅能显著缩短搬运路径、降低机器人的能量损耗,还能减少参与协作的机器人数目,提高了系统的执行效率,充分体现了多机器人系统协作中任务分配的合理性,显示出较强的任务规划能力。In order to further improve the executing efficiency of multi-robot systems during cooperative handling , a new interferon regulation-based immune network algorithm is put forward .The affinities between the antibody and antigen as well as the antibodies are defined firstly by taking the boxes and robots as the antigen and antibody , re-spectively;secondly , the interferon adjustment factor according to the interferon mechanism is defined;thirdly, the new multi-robot task allocation model is established based on Jerne＆#39;s idiotypic network hypothesis .Compared with the correlative immune allocation algorithms , the test results from multiple environments indicate that the proposed algorithm not only markedly shortens the handling path and reduces energy loss , but also reduces the amount of ro-bots in cooperation , which shows the rationality of the tasking allocation and the stronger planning ability of the pro-posed allocation model .

关 键 词：协作搬运 多机器人系统 免疫网络算法 干扰素 亲和度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]