基于阵列式发射模组的群体机器人动态无线供电路径规划研究  

Research on path planning for dynamic wireless charging of swarm robots based on array transmitting module

作　　者：张欣[1] 李春智 薛明[1] 李方洲 倪豪 Zhang Xin;Li Chunzhi;Xue Ming;Li Fangzhou;Ni Hao(Tianjin Key Laboratory of Electrical Equipment Intelligent Control,Tiangong University,Tianjin 300387,China)

机构地区：[1]天津工业大学天津市电气装备智能控制重点实验室,天津300387

出　　处：《电测与仪表》2023年第7期168-175,共8页Electrical Measurement & Instrumentation

基　　金：国家自然科学基金资助项目(52077153);天津市自然科学基金资助项目(18JCQNJC70500);天津市研究生科研创新项目(2020YJSS001)。

摘　　要：群体机器人可依靠群智能有效分工协作完成复杂和大规模任务,在物流、制造、交通和军事等领域有极大的应用价值。然而,目前已有电能补给方式均无法满足其持续不间断充电的需求,导致强大的协同工作能力得不到充分发挥。为此,提出一种基于阵列式发射模组的群体机器人动态无线充电方式,可为群体机器人工作过程中实时供给电能。分析了机器人动态无线充电过程中效率和功率的波动特性,以充电效率最优为目标,提出一种带有惩罚机制改进的蚁群算法以及协同工作模式,并应用于群体机器人协同动态无线充电系统。最后,进行仿真实验,验证了所提出的方法可实现群体机器人在动态无线充电过程中稳定可靠协同工作。文中的研究对群体智能的研究具有极大的促进作用。Swarm robots can rely on swarm intelligence algorithm to effectively divide and cooperate to complete complex and large-scale tasks,which have great application value in the fields of logistics,manufacturing,transportation and military.However,the existing charging methods cannot meet the continuous charging needs of swarm robots,resulting in their strong cooperative ability not being brought into full play.Therefore,this paper proposes a dynamic wireless charging mode of swarm robots based on array transmitting module,which can supply real-time power for swarm robots in the working process.Firstly,this paper analyzes the fluctuation characteristics of power and efficiency during dynamic wireless charging of the robot.Secondly,with the goal of optimal charging efficiency during robot motion,this paper proposes an improved ant colony algorithm with penalty mechanism and a cooperative work mode,and applies them to a swarm robot cooperative dynamic wireless charging system.Finally,simulation experiments are carried out to verify that the proposed method can realize the stable and reliable cooperative work of swarm robots in the process of dynamic wireless charging.The research of this paper can greatly promote the research of swarm intelligence.

关 键 词：群体机器人 阵列式发射模组 动态无线充电 改进的蚁群算法 协同工作模式 

分 类 号：TM724[电气工程—电力系统及自动化]