群机器人自组织聚集行为及协同围捕研究  

Research on Self-Organizing Aggregation and Cooperative Hunting of Swarm Robots

作　　者：杨卫[1,2] 曾亮 麻轩海 YANG Wei;ZENG Liang;MA Xuanhai(State Key Laboratory of Electronic Test (North University of China),Taiyuan 030051, China;Key Laboratory of Instrumentation Science & Dynamic Measurement(North University of China), Ministry of Education, Taiyuan 030051,China;Zhejiang Hongqi Machinery Co., Ltd., Deqin 313200, China)

机构地区：[1]中北大学电子测试技术国防科技重点实验室,太原030051 [2]中北大学工作仪器科学与动态测试教育部重点实验室,太原030051 [3]浙江红旗机械有限公司,浙江德清313200

出　　处：《兵器装备工程学报》2019年第10期205-210,共6页Journal of Ordnance Equipment Engineering

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：针对群机器人聚集行为模式的形成,建立了基于质点系力学系统、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。建立了关于聚集行为的聚集度、均匀度等评价指标,通过实验分析比较不同模型的聚集性能,为群机器人自组织聚集行为模式的形成奠定了基础。使用分析选定的模型,对机器人群完成对目标的自组织围捕行为进行仿真试验,实现了不同群体规模的目标围捕功能,验证了模型的正确性。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 was established to realize the autonomous transfer of robot motion state. The aggregation degree and uniformity index of aggregation behavior were established, and the aggregation performance of different models was analyzed by experiment, which lays a foundation for the formation of self-organized aggregation behavior model of swarm robots. Using the selected model, the self-organizing target hunting behavior simulation experiments were carried out, realized the target hunting function of different group scale, and the correctness of the model was verified.

关 键 词：群机器人 协同 自组织 聚集 目标围捕 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]