基于RFID信息约束平台的群体机器人防拥堵算法  

Anti-congestion algorithm for swarm robots based on RFID information constraint platform

作　　者：唐雄 雷斌[1,2] 蒋林 TANG Xiong;LEI Bing;JIANG Lin(College of Machinery and Automation,Wuhan University of Science and Technology,Wuhan 430081,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081 [2]武汉科技大学机器人与智能系统研究院,湖北武汉430081

出　　处：《武汉科技大学学报》2024年第5期394-400,共7页Journal of Wuhan University of Science and Technology

基　　金：国家重点研发计划项目(2019YFB1310000);湖北省自然科学基金项目(2018CFB626).

摘　　要：拥塞是群体机器人导航中的一个常见现象,特别容易发生在大量机器人从四面八方朝同一目标移动时,为此提出一种分布式协调算法来解决目标点拥堵问题。该算法引入了人类交通中的变道行为,基于概率有限状态机,通过局部通信和感知,使机器人之间形成一种状态约束,然后设计了考虑区域划分的RFID信息平台来进一步控制目标区域流量。利用QT程序框架对群体机器人场景进行多组仿真实验,并搭建一个小型群体机器人实物平台,以验证提出的防拥堵策略的有效性和可靠性。结果表明,具有约束规则的机器人系统能更好地缓解拥堵现象,特别是机器人数量较多时,其工作量显著下降,导航效率得到极大提升。Congestion is very common in the navigation of swarm robots,especially when a large number of robots move towards the same target from all directions.Therefore,a distributed coordination algorithm was proposed to solve the congestion problem.On the basis of probabilistic finite state machine,this study introduced the lane change behavior in human traffic,formed a state constraint between robots through local communication and perception,and designed a RFID information platform with regional division to further control the traffic flow in the target area.QT framework was used to conduct multiple simulation experiments for swarm robot scenarios,and a small physical platform of swarm robots was built to verify the effectiveness and reliability of the proposed anti-congestion strategy.The results show that the congestion of the swarm robot system with constraint rules is effectively alleviated.In particular,when the number of robots is large,the workload is significantly reduced and the navigation efficiency is greatly improved.

关 键 词：群体机器人 防拥堵策略 RFID 状态约束规则 局部通信 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]