林草特种机器人集群技术现状与展望  

Status and Prospects of Forest and Grass Special Robot Technique

作　　者：吴金霆 王琢[1,2] 张子超 王乃宇 WU Jin-ting;WANG Zhuo;ZHANG Zi-chao;WANG Nai-yu(College of Mechanical and Electrical Engineering of Northeast Forestry University,Harbin Heilongjiang 150040,China;Institute of Forestry Artificial Intelligence of Northeast Forestry University,Harbin Heilongjiang 150040,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040 [2]东北林业大学林业人工智能研究院,黑龙江哈尔滨150040

出　　处：《林业机械与木工设备》2023年第2期22-30,共9页Forestry Machinery & Woodworking Equipment

基　　金：中央高校基本科研业务费专项资金资助(2572019CP21);黑龙江省自然科学基金项目(TD2020C001)。

摘　　要：随着林草领域中火灾扑救、环境监测、信息采集等多种类型特种机器人研究的开展,智能化技术越来越多地应用于生态文明建设。林草特种机器人朝着全自动无人化方向快速发展,而对于火灾扑救、资源调查等复杂任务而言,对多机智能系统协同能力等的需求变得日益迫切。相对于单机器人巡检,机器人集群能够更高效地应对复杂场景。在机器人集群技术研究中,要根据系统需要实现的功能,结合自然界中生物的集群行为来完成整体框架,并通过编队控制技术实现以上功能。研究中总结了林草特种机器人和集群技术的国内外研究现状,分析了生物界中的集群行为,以及领航-跟随法、人工势场法等主流编队控制算法,展望了林草特种机器人集群技术发展的方向和需要攻克的难题。With the research of various types of special robots in the field of forest and grass,such as fire fighting,environmental monitoring and information collection,intelligent technology is more and more applied to the construction of ecological civilization.Forest and grass special robots are developing rapidly in the direction of full-automatic and unmanned.For complex tasks such as fire fighting and resource investigation,the demand for the collaborative ability of multi machine intelligent system has become increasingly urgent.Compared with single robot inspection,robot swarm can deal with complex scenes more efficiently.In the research of robot swarm technology,we should complete the overall framework according to the functions of the system and the swarm behavior of organisms in nature,and realize the above functions through formation control technology.The research summarizes the research status of forest and grass special robot and cluster technology at home and abroad,analyzes the swarm behavior in the biological world,the mainstream formation control algorithms such as pilot follow method and artificial potential field method,and looks forward to the development direction and problems to be solved of forest and grass special robot cluster technology.

关 键 词：机器人集群 林业巡检 集群行为 领航-跟随法 人工势场法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]