基于群体机器人多目标的区块链安全控制架构及算法  

Blockchain Security Control Architecture and Algorithm Based on Multi-objective of Swarm Robots

作　　者：黄捷 李帮银[1,2] 李东方 HUANG Jie;LI Bangyin;LI Dongfang(College of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350108,China;5G+Industrial Internet Institute of Fuzhou University,Fuzhou 350108,China)

机构地区：[1]福州大学电气工程与自动化学院,福州350108 [2]福州大学5G+工业互联网研究院,福州350108

出　　处：《无人系统技术》2024年第1期59-68,共10页Unmanned Systems Technology

基　　金：国家自然科学基金(92367109);天津大学-福州大学自主创新基金(TF2021-2)。

摘　　要：针对群体机器人在执行任务过程中可能出现的数据泄露等安全问题,提出了一种基于群体机器人多目标的区块链安全控制架构方案,并设计了用于数据安全防护的安全流程控制算法。首先,构建的架构基于区块链,从任务层和执行层角度避免了任务数据的丢失和泄露,确保群机器人的内部数据可以安全稳定地传输。其次,设计安全控制算法,实现群体机器人在多目标情况下的安全控制。最后仿真结果表明,所设计的架构及算法提高了机器人数据传输的隐私性和安全性,引入所提出的安全控制架构及算法后,群机器人在协同跟踪目标点运动的过程中探测误差减小了40.7%。同时,通过实验验证了所提架构在实际系统中的有效性。This paper proposed a blockchain security control architecture based on multi-objective swarm robots to eliminate security issues such as data leakage during exploration service tasks and designs a security control algorithm for data security protection.Firstly,the architecture scheme is constructed via blockchain,avoids data loss and leakage from the perspectives of task layer and execution layer,ensuring the safe and stable transmission of data within the swarm robots.Secondly,the control algorithm is designed to solve a series of motion safety control problems for swarm robots in multi-objective situations.Finally,simulations show that the proposed architecture and algorithm can reduce the detection error of swarm robots by 40.7%during the collaborative tracking of target point motion,proving the privacy and security of robot data transmission.In addition,experiment is conducted to verify the effectiveness of the proposed architecture in a real system.

关 键 词：群机器人 区块链 安全流程 控制架构 共识算法 控制算法 安全性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]