地面可移动机器人群自组织目标围捕研究  

Research on Self-Organizing Target Hunting for Mobile Robot Group

作　　者：曾亮 杨卫[1,2] 康新晨 ZENG Liang;YANG Wei;KANG Xinchen(Science and Technology on Electronic Test and Measurement Laboratory,North University of China,Taiyuan 030051,China;Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of Education,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学电子测试技术重点实验室,太原030051 [2]中北大学仪器科学与动态测试教育部重点实验室,太原030051

出　　处：《电子器件》2019年第2期411-415,共5页Chinese Journal of Electron Devices

基　　金：山西省高等学校科技创新项目(18002605);山西省应用基础研究项目(201701D221123)

摘　　要：针对群体机器人聚集行为模式的形成,建立了基于质点系力学系统、以及感知状态加权的自组织运动模型,实现了机器人运动状态的自主转移。使用分析选定的模型,对有边界约束和无边界约束两种情况进行了自组织聚集行为仿真试验,实现了不同群体规模的最大范围的有效覆盖感知,验证了模型的正确性。并通过进行随机位置的群机器人目标围捕试验验证了围捕模型的正确性。Aiming at the formation of aggregation behavior model of swarm robots,a self-organizing motion model based on particle system mechanics and perceptual state weighting is established to realize the autonomous transfer of robot motion state.Using the selected model,the self-organizing aggregation behavior simulation experiments are conducted for two cases with boundary constraints and no boundary constraints.The maximum coverage of different groups of scale is realized,and the correctness of the trap model is verified by the target hunting test of the group robot with random position.

关 键 词：群机器人 自组织 围捕 蚁群算法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]