SUNDER:Self-organized grouping and entrapping method for swarms in multitarget environments  

作　　者：Yutong Yuan Zhun Fan Xiaomin Zhu Li Ma Ji Ouyang Weidong Bao Ji Wang Zhaojun Wang 

机构地区：[1]College of Systems Engineer,National University of Defense Technology,Changsha 410073,China [2]School of Electrical and Information Engineering,Shantou University,Shantou 515063,China [3]Strategic Assessments and Consultation Institute,Academy of Military Science,Beijing 100097,China

出　　处：《Defence Technology（防务技术）》2023年第8期68-83,共16页Defence Technology

基　　金：supported in part by National Key R&D Program of China(Grant Nos.2021ZD0111501,2021ZD0111502);the Key Laboratory of Digital Signal and Image Processing of Guangdong Province;the Key Laboratory of Intelligent Manufacturing Technology(Shantou University);Ministry of Education,the Science and Technology Planning Project of Guangdong Province of China(Grant No.180917144960530);the Project of Educational Commission of Guangdong Province of China(Grant No.2017KZDXM032);the State Key Lab of Digital Manufacturing Equipment&Technology(grant number DMETKF2019020);National Natural Science Foundation of China(Grant Nos.62176147,62002369);STU Scientific Research Foundation for Talents(Grant No.NTF21001);Science and Technology Planning Project of Guangdong Province of China(Grant Nos.2019A050520001,2021A0505030072,2022A1515110660);Science and Technology Special Funds Project of Guangdong Province of China(Grant Nos.STKJ2021176,STKJ2021019);Guangdong Special Support Program for Outstanding Talents(Grant No.2021JC06X549)。

摘　　要：For swarm robots moving in a harsh or uncharted outdoor environment without GPS guidance and global communication,algorithms that rely on global-based information are infeasible.Typically,traditional gene regulatory networks(GRNs)that achieve superior performance in forming trapping pattern towards targets require accurate global positional information to guide swarm robots.This article presents a gene regulatory network with Self-organized grouping and entrapping method for swarms(SUNDER-GRN)to achieve adequate trapping performance with a large-scale swarm in a confined multitarget environment with access to only local information.A hierarchical self-organized grouping method(HSG)is proposed to structure subswarms in a distributed way.In addition,a modified distributed controller,with a relative coordinate system that is established to relieve the need for global information,is leveraged to facilitate subswarms entrapment toward different targets,thus improving the global multi-target entrapping performance.The results demonstrate the superiority of SUNDERGRN in the performance of structuring subswarms and entrapping 10 targets with 200 robots in an environment confined by obstacles and with only local information accessible.

关 键 词：Swarm robots Local information Gene regulatory network Swarm grouping Trapping pattern Confined multitarget environment 

分 类 号：Q811.4[生物学—生物工程]