Revolutionary entrapment model of uniformly distributed swarm robots in morphogenetic formation  

作　　者：Chen Wang Zhaohui Shi Minqiang Gu Weicheng Luo Xiaomin Zhu Zhun Fan 

机构地区：[1]Shantou University,Shantou,Guangdong,China [2]National University of Defense Technology,Changsha,China [3]Key Lab of Digital Signal and Image Processing of Guangdong Province,China

出　　处：《Defence Technology（防务技术）》2024年第1期496-509,共14页Defence Technology

基　　金：funded by the National Natural Science Foundation of China(62176147);the Science and Technology Planning Project of Guangdong Province of China,the State Key Lab of Digital Manufacturing Equipment and Technology(DMETKF2019020);the National Defense Technology Innovation Special Zone Project(193-A14-226-01-01)。

摘　　要：This study proposes a method for uniformly revolving swarm robots to entrap multiple targets,which is based on a gene regulatory network,an adaptive decision mechanism,and an improved Vicsek-model.Using the gene regulatory network method,the robots can generate entrapping patterns according to the environmental input,including the positions of the targets and obstacles.Next,an adaptive decision mechanism is proposed,allowing each robot to choose the most well-adapted capture point on the pattern,based on its environment.The robots employ an improved Vicsek-model to maneuver to the planned capture point smoothly,without colliding with other robots or obstacles.The proposed decision mechanism,combined with the improved Vicsek-model,can form a uniform entrapment shape and create a revolving effect around targets while entrapping them.This study also enables swarm robots,with an adaptive pattern formation,to entrap multiple targets in complex environments.Swarm robots can be deployed in the military field of unmanned aerial vehicles’(UAVs)entrapping multiple targets.Simulation experiments demonstrate the feasibility and superiority of the proposed gene regulatory network method.

关 键 词：Swarm intelligence Revolutionary entrapment FLOCKING ROBOTS Gene regulatory network Vicsek-model Entrapping multiple targets 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]