基于人工物理的群机器人网格分布仿真

Grid Distribution Simulation of Swarm Robots Based on Artificial Physics

群机器人学是多机器人系统的一个重要研究方向,其主要特点是系统包含大量个体。如何控制不受数量限制的群机器人系统,是一个极具挑战性的问题。网格分布是指大量机器人按照一定的要求均匀分布在某一区域中。基于人工物理原理分析了群机器人网格分布控制原理和方法,制定了详细的系统性能评价指标(稳定时间、碰撞次数、覆盖率、连接数、簇数、分布密度等参数),提出了采用曲线拟合法构建虚拟力模型。通过在无障碍物和有障碍物环境中的网格分布仿真,显示出该方法可以鲁棒、有效的完成网格分布。最后指出了今后的研究方向。

Swarm robotics is one of the important research directions of multi-robot systems, whose major feature is that the system includes many robots, How to control swarm-robot system is a challenging problem. Grid distribution means that a lot of robots distribute averagely in an area when they are demanded. The principle and method that were analyzed based on artificial physics, some performance judgment parameters （such as stabilization time, collision times, overlay rate, connection number, cluster number, distributing density and so on were put forward）; Meanwhile, the virtual force model was extended to use curve-fitting method. The result of the experiment shows that this method can accomplish the grid distributing control robustly and efficiently in a complicated environment. At last, the directions of further research were proposed.