基于自组织结对行为的群集机器人分群控制方法  

A Novel Fission Control Method for Swarm Robots Based on Self-Organized Pairwise Interaction Behavior

作　　者：杨盼盼[1] 刘明雍[1] 雷小康[1] 李越[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《西北工业大学学报》2015年第1期147-152,共6页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(51179156;51379176)资助

摘　　要：针对群集机器人的分群问题,以E-puck群集机器人系统为研究平台,从外部刺激信息在群集内有效传播的角度出发,提出了一种基于自组织结对行为的群集机器人分群控制方法。该方法利用机器人航向的变化表征其应激反应强度,并引入两两结对行为实现刺激信息在群集内部传播的最大化。在此基础上,结合传统的"分离/组队/聚合"规则对机器人的运动行为进行协调,实现了机器人群集在外部刺激下的自发分群行为。实验结果表明:该方法不仅能实现机器人群集的应激分群运动,而且分群后的子群仍具备良好的稳定性。For the fission problem of swarm robots, E-puck swarm robot system is employed as the research platform and a self-organized pairwise interaction behavior based fission control method is proposed from the effective information transfer perspective. stress reaction and introduce the pairwise Together with the traditional ＂separation/ This method utilizes the variation of headings to represent the intensity of interaction behavior to maximize the information transfer within the flock. alignment/repulsion＂ rules, the motion behavior of robots is coordinated, this realizes the spontaneous fission behavior under external stimuli. Experimental results and their analysis demon- strate preliminarily that the proposed method is able to achieve the spontaneous fission maneuver, and that the sub- groups have good stability after the fission behavior occurs.

关 键 词：群集机器人 分群控制 结对行为 自组织 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]