|本期目录/Table of Contents|

[1]宁 姗a,叶瑰昀b,曲 芳a,等.基于信息素反应的多机器人协作探测的方法研究[J].工业仪表与自动化装置,2015,(03):110-113.
　NING Shana,YE Guiyunb,QU Fanga,et al.Research of Coordinated Multi-robot Exploration Based on Reactive Pheromone[J].Industrial Instrumentation & Automation,2015,(03):110-113.
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基于信息素反应的多机器人协作探测的方法研究(PDF)

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:
期数:
2015年03期
页码:
110-113
栏目:
出版日期:
2015-06-15

文章信息/Info

Title:
Research of Coordinated Multi-robot Exploration Based on Reactive Pheromone
文章编号:
1000-0682(2015)03-0000-00
作者:
宁 姗a; 叶瑰昀b; 曲 芳a; 姜艳秋b;  刘远义b
（黑龙江科技大学 a. 工程训练与基础实验中心；b. 电气与控制工程学院，哈尔滨 150027）
Author(s):
NING Shana;  YE Guiyunb;  QU Fanga;  JIANG Yanqiub;  LIU Yuanyib
（a.Center of Engineering Training and Practice；b. College of Electrical and Control Engineering, Heilongjiang University of Science and Technology, Harbin 150027,China）
关键词:
信息素; 多机器人; 协作; 探测
Keywords:
pheromone;  multi-robot;  coordination;  detection
分类号:
TP242
DOI:
-
文献标志码:
A
摘要:
针对单一探测机器人在复杂环境下的可靠性和容错能力较低难以完成探测任务的问题，采用了多机器人协作探测的方法，利用吸引素和排斥素将引力和斥力之间的平衡点作为机器人队形控制及避障行为的约束条件，同时利用信息素之间的反应，计算出指引机器人到达目标点的目标信息素及返回初终点的返回信息素的数值，实现缩小机器人的搜索空间，形成最优路径，提高多机器人的协作探测能力。实验证明，引入信息素反应理论，减化机器人相互协作模型，同时能够完成复杂环境下的机器人探测任务，达到了预期效果。
Abstract:
In the complex environment, one detection robot is difficult to finish the exploration. Attraction and repulsion pheromone balance between attraction and repulsion is used in this paper for the robot formation control and constraint conditions of the obstacle avoidance behavior. And, reactive pheromone is used to reduce search space of robots. After practice and application, this method can simplify model of cooperative robots. The desired effect are achieved.

参考文献/References:

[1] Shailendra S Aote, M M Raghuwanshi, L G Malik. A New Particle Swarm Optimizer with Cooperative Coevolution for Large Scale Optimization[C]. Proceedings of the 3rd International Conference on Frontiers of Intelligent Compu -ting: Theory and Applications(FICTA) 2014. Advances in Intelligent Systems and Computing 2015,27:781-789.
[2] Carlos Alberto Riveros Varela, Ferney Beltrán Velandia, Miguel Alberto Melgarejo Rey. Foraging Multi-Agent System Simulation Based on Attachment Theory[C]. ISCS 2014: Interdisciplinary Symposium on Complex Systems. Emergence,Complexity and Computation,2015,14:359-364.
[3] Antoni Mauricio,Ayrton Nieves,Yomar Castillo, et al. Multi-robot Exploration and Mapping Strategy in Under- ground Mines by Behavior Control[J]. Multibody Mechatronic Systems. Mechanisms and Machine Science, 2015(25):101-110.
[4] 朱庆保,杨志军.基于变异和动态信息素更新的蚁群优化算法[J].软件学报,2004,15(2):185-192.
[5] 宁姗.基于蚁群聚类的多目标环形分类的方法研究.[J].工业仪表与自动化装置,2012(5): 70-73.

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备注/Memo

备注/Memo:
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更新日期/Last Update: 1900-01-01