移动机器人未知环境下无线基站搜索

Wireless base station search using mobile robots in unknown environment

针对机器人未知环境下信号源搜寻依赖于多机器人协同定位问题,提出一种基于天牛须搜索的单机器人寻源算法,进行未知环境下无线基站搜索。将天牛须搜索的两个触角改进为一个触角,引入避障策略,动态改变机器人的移动位置和方向,将所提算法应用于单机器人室内与室外两种环境下的无线基站搜索。与PSO、GA算法对比结果表明,收敛速度明显更快。该算法运算量小、收敛速度快,能够在复杂的未知环境中找到无线信号源。

A single-robot source searching algorithm based on beetle antennae search(BAS)was proposed to search the wireless base station aiming at the signal source search of a robot in an unknown environment depending on multi-robot co-location.The two antennae of BAS were improved into one and the obstacle avoidance strategy was introduced to dynamically change the robot’s moving position and direction,and also the proposed algorithm was applied to the wireless base station search both in indoor and outdoor environments of a single robot.Compared with the PSO and GA algorithms,the results show that the convergence speed is significantly higher.The proposed algorithm is featured with a small computation amount and high convergence speed,and it can always find the source of the wireless signal in the complex unknown environment.