基于密度交互的集群机器人自组织垃圾收集算法  

Self-organized garbage collection algorithm of swarm robots based ondensity interactions

作　　者：向雅伦 雷小康[1] 段中兴[1] 段梦园 许明玉 XIANG Ya-lun;LEI Xiao-kangy;DUAN Zhong-xing;DUAN Meng-yuan;XU Ming-yu(College of Information and Control Engineering,Xi’an University of Architecture and Technology,Xi’an 710311,China)

机构地区：[1]西安建筑科技大学信息与控制工程学院,西安710311

出　　处：《控制与决策》2024年第10期3279-3288,共10页Control and Decision

摘　　要：针对实际垃圾收集任务中垃圾常呈非均匀的斑块状分布的问题,提出一种基于密度交互的集群机器人自组织垃圾收集算法.首先,基于高斯核函数建立机器人邻域作业空间中垃圾分布以及邻居分布的空间密度场;然后,在密度信息驱动交互规则作用下,集群机器人通过边缘包围行为实现对垃圾斑块的环型包围;最后,配合面向粗粒度垃圾的平推收缩策略和面向细粒度垃圾的涡旋收缩策略,以群体协作的方式推动垃圾斑块向内聚拢,完成斑块状垃圾的收集任务.数值仿真以及真实集群机器人实验结果表明,所提出收集算法对单斑块、多斑块以及垃圾数量动态变化斑块均具有良好的收集效果,表现出优良的并行作业和自适应性能.In real-life garbage collection tasks,garbage is often distributed in non-uniform patches.To more effectively deal with this patchy garbage,a self-organized collection algorithm for swarm robots based on density interactions is proposed.Firstly,a spatial density field is established to characterize the spatial distribution of garbage and other robots based on the Gaussian kernel function.Secondly,the density field is used to coordinate the collective motion of swarm robots to perform an edge-surrounding behavior in order to encircle the garbage patchy.Finally,in conjunction with the radial shrinkage strategy for coarse-grained garbage and the vortex shrinkage strategy for fine-grained garbage,the scattered garbage is pushed inward in a group collaborative manner by swarm robots,and the collection task of patchy garbage is completed.Numerical simulations and experiments with real swarm robots demonstrate that the proposed garbage collection algorithm is effective for collecting single-patchy garbage,multi-patchy garbage,and dynamic-patchy garbage,showing excellent parallelism and adaptivity.

关 键 词：集群机器人 集群清洁 密度驱动交互 垃圾收集 收缩机制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]