群体机器人觅食任务中链式路径的形成

Chain path formation in foraging mission of swarm robots

以分布式群体机器人觅食任务为背景,探寻一种分布式群体机器人的控制方法。该控制方法下的群体机器人只具有简单的反应式行为,通过协作以自身作为信标形成机器人链,将巢穴和食物连接起来完成觅食任务。通过仿真得出:在群体机器人数目足够的情况下,每个根上的链数控制在3或4条比较合适,搜索多个食物的效率大于搜索单个食物的效率,机器人的步长越长其效率也越高。

Based on the background of the distributed swarm robotic foraging mission, a control method of distributed swarm robots is explored. The swarm robots are behaviour-based and have simple acting. They form chains through corporation by using themselves as beacons. The swarm robots form a chain path between nest and food. By the simulation, it is concluded that if the number of swarm robots is enough, it is appropriate to have three or four robot chains of each root. It is much more efficient to search multi-food than single food and to have a longer step size.