虚拟信息素在群体机器人防拥堵中的研究

A study of virtual pheromones in swarm robotics for anti-congestion

为解决群体机器人导航时的拥堵问题,在分析防拥堵方案的基础上,借鉴蚁群算法以及蚂蚁觅食行为,提出了一种基于虚拟信息素的分布式协调算法,使用概率有限状态机协调机器人以避免拥堵。开发了一套群体机器人实验系统与实验平台,使用自主研发的群体机器人对算法进行验证分析。结果表明,该算法能使群体机器人实现更高效、更平滑的导航,算法具有可靠性和实用价值,为应用于实际场景、解决拥堵问题提供了参考依据。

A relevant anti-congestion scheme was analyzed for the problem of congestion occurring during swarm robot navigation.Referring to ant colony algorithm and ant foraging behavior,a new distributed coordination algorithm based on virtual pheromone was proposed to ease congestion,and a probabilistic finite-state machine was used to coordinate robots to avoid congestion.A set of experimental system and platform for swarm robots was developed,and the algorithm was verified and analyzed by using self-developed swarm robots for physical experiments.The results showed that this algorithm enabled swarm robots to navigate more smoothly and efficiently.It provides a reference basis for application to congestion in real scenarios and has practical value.