基于信息素反应的多机器人协作探测的方法研究

Research of multi-robot coordinated exploration based on pheromone reactive

针对单一探测机器人在复杂环境下可靠性和容错能力较低难以完成探测任务的问题,采用了多机器人协作探测的方法,利用吸引素和排斥素将引力和斥力之间的平衡点作为机器人队形控制及避障行为的约束条件,同时利用信息素之间的反应,计算出指引机器人到达目标点的目标信息素及返回初终点的返回信息素的数值,实现缩小机器人的搜索空间,形成最优路径,提高多机器人的协作探测能力。实验证明,引入信息素反应理论,减化机器人相互协作模型,同时能够完成复杂环境下的机器人探测任务,达到了预期效果。

In the complex environment, one detection robot is difficult to finish the exploration. At-traction and repulsion pheromone balance between attraction and repulsion is used in this paper for the ro-bot formation control and constraint conditions of the obstacle avoidance behavior. And, reactive phero-mone is used to reduce search space of robots. After practice and application, this method can simplify model of cooperative robots. The desired effect are achieved.