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基于区域分工机制的异构群体机器人觅食任务数学分析 被引量：2

Mathematical analysis of heterogeneous swarm robots foraging based on region division mechanism
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摘要 根据机器人的能力进行区域分工,以提高群体机器人系统的觅食效率。为了系统研究异构群体机器人执行觅食任务时的群体行为,以比率方程为基础,构建了觅食任务的数学模型。并利用该模型,定量分析了机器人的数量及性能对觅食任务完成时间的影响。通过对数学模型的分析得出:外部机器人数增加时,外部机器人之间的干涉作用将减少觅食任务完成时间的改进;随着内部机器人与食物相遇率的提高,觅食任务完成时间的改进不断降低。 The region division according to robot ability was introduced to improve foraging efficiency of the swarm robot systyems. A mathematical foraging model was constructed based on the rate equation for the purpose of studying the collective behavior of heterogeneous swarm robot foraging. The analysis on the numerical effect as well as the preformance of robot on the time for finishing the foraging was preformed quantitatively by using the introduced mathematical model. The analysis of the mathematical model indcates that the effect of interference among outer robots will reduce the improvement of finishing time in foraging task when the outer robot number increases, and this improvement will decrease when the rate for inner robot increases to meet food.
作者 杨永明 田彦涛
机构地区 吉林大学通信工程学院
出处 《吉林大学学报（工学版）》 EI CAS CSCD 北大核心 2008年第6期1396-1401,共6页 Journal of Jilin University:Engineering and Technology Edition
基金 国家自然科学基金项目(60675057)
关键词 自动控制技术 群体智能 群体机器人系统 数学模型 觅食任务 automatic control technology swarm intelligence swarm robotic system mathematicalmodel 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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参考文献15

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二级参考文献2

  • 1Kristina Lerman,Aram Galstyan. Mathematical Model of Foraging in a Group of Robots: Effect of Interference[J] 2002,Autonomous Robots(2):127～141
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共引文献3

同被引文献15

  • 1刘志新,郭雷.多个体系统的连通与同步[C]∥第25届中国控制会议论文集.北京:北京航空航天大学出版社,2006:373-378.
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  • 10Xiao F,Wang L. Asynchronous consensus in contin- uous- time multi-agent systems with switching to- pology and time- varying delays [J]. IEEE Trans Autom Contr,2008,53(8) :1804-1816.

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吉林大学学报（工学版）
2008年 第6期

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