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面向多目标搜索的群机器人任务分配研究 被引量：2

Research on Task Allocation in Multi-Target Localization in Swarm Robotics Based on Response Threshold Model
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摘要 针对群机器人在多目标搜索过程中的协作分工问题,受黄蜂群劳动分工的启发,在黄蜂群的响应阈值模型中引入距离变量来解决群机器人多目标搜索中的任务分配问题。当机器人感知到目标信号时,机器人根据当前搜索该目标的机器人数量以及自身距群体最优位置之间的距离决定是否参与搜索该目标信号,从而实现了机器人之间针对搜索不同目标的任务分配。仿真结果表明,该方法有效可行。 Aiming at collaboration and task allocation of swarm robots in multi-target localization, inspired by divi- sion of labor in social wasp, the distance variable is applied to response threshold model to solve task allocation in swarm robotics. Robots will decide whether to search the target depending on the number of robots searching for the target and the distance between them and the global best while detecting the signals emitted from targets, and the robots can effectively allocate the task based on different signals. Simulation results have shown that this method is feasible and effective.
作者 宋玉丽 张国有 曾建潮 薛颂东
机构地区 太原科技大学复杂系统与计算智能实验室
出处 《太原科技大学学报》 2012年第4期262-268,共7页 Journal of Taiyuan University of Science and Technology
基金 国家自然科学基金(60975074) 山西省自然科学基金(2009011017-1)
关键词 群机器人 多目标搜索 黄蜂群算法 任务分配 swarm robotics, multi-target localization, wasp swarm algorithm, task allocation
分类号 TP301.6 [自动化与计算机技术—计算机系统结构]
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参考文献14

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同被引文献25

  • 1王俭,肖金球,赵鹤鸣.目标信号导航的机器人路径二次优化[J].电子测量与仪器学报,2007,21(5):73-76. 被引量：2
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  • 10郭晋炜,曾建潮.基于目标搜索任务的群机器人路径规划[J].系统仿真学报,2010,22(12):2842-2846. 被引量：7

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二级引证文献35

太原科技大学学报
2012年 第4期

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