群体机器人合作觅食任务数学模型的建立与分析被引量：1

Mathematical Modeling and Analysis on Cooperative Foraging of Swarm Robots

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摘要根据个体机器人的宏观状态转换,提出合作觅食任务的数学模型.该数学模型由微分比率方程组构成,能够描述群体行为的动态特征,并分析合作觅食任务效益随等待时间的变化情况.仿真实验表明,该数学模型的预测结果与仿真实验数据可以较好地吻合. A mathematical model for cooperative foraging is proposed according to the macro state transitions of individual robots. The mathematical model consists of a series of coupled differential rate equations which can describe the dynamics of group behavior and be used to analyze the benefits of cooperative foraging with the change of waiting time. Simulation experiments indicate that the predictive results of the mathematical model agree properly with the data obtained from the simulation experiments.

作者杨永明田彦涛洪伟梅昊

机构地区吉林大学通信工程学院自动化研究所

出处《机器人》 EI CSCD 北大核心 2007年第6期546-551,共6页 Robot

基金国家自然科学基金资助项目(60675057)

关键词群体机器人数学模型觅食任务 swarm robot mathematical model foraging task

分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]

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