|
|
论文:2015,Vol:33,Issue(1):147-152 |
|
|
引用本文： |
|
|
杨盼盼, 刘明雍, 雷小康, 李越. 基于自组织结对行为的群集机器人分群控制方法[J]. 西北工业大学学报 |
|
|
Yang Panpan, Liu Mingyong, Lei Xiaokang, Li Yue. A Novel Fission Control Method for Swarm Robots Based on Self-Organized Pairwise Interaction Behavior[J]. Northwestern polytechnical university |
|
|
|
|
|
|
|
| 基于自组织结对行为的群集机器人分群控制方法 |
|
| 杨盼盼, 刘明雍, 雷小康, 李越 |
|
| 西北工业大学航海学院, 陕西西安 710072 |
| 摘要: |
| 针对群集机器人的分群问题,以E-puck群集机器人系统为研究平台,从外部刺激信息在群集内有效传播的角度出发,提出了一种基于自组织结对行为的群集机器人分群控制方法。该方法利用机器人航向的变化表征其应激反应强度,并引入两两结对行为实现刺激信息在群集内部传播的最大化。在此基础上,结合传统的"分离/组队/聚合"规则对机器人的运动行为进行协调,实现了机器人群集在外部刺激下的自发分群行为。实验结果表明:该方法不仅能实现机器人群集的应激分群运动,而且分群后的子群仍具备良好的稳定性。 |
| 关键词:
群集机器人
分群控制
结对行为
自组织
|
|
| A Novel Fission Control Method for Swarm Robots Based on Self-Organized Pairwise Interaction Behavior |
|
| Yang Panpan, Liu Mingyong, Lei Xiaokang, Li Yue |
|
| College of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| For the fission problem of swarm robots, E-puck swarm robot system is employed as the research platform and a self-organized pairwise interaction behavior based fission control method is proposed from the effective information transfer perspective. This method utilizes the variation of headings to represent the intensity of stress reaction and introduce the pairwise interaction behavior to maximize the information transfer within the flock. Together with the traditional "separation/alignment/repulsion" rules, the motion behavior of robots is coordinated, this realizes the spontaneous fission behavior under external stimuli. Experimental results and their analysis demonstrate preliminarily that the proposed method is able to achieve the spontaneous fission maneuver, and that the subgroups have good stability after the fission behavior occurs. |
| Key words:
acceleration
angular velocity
collision avoidance
control
controllers
efficiency
experiments
microprocessor chips
robots
sensors
stepping motors
trajectories
vectors
velocity
fission control
pairwise interaction behavior
self-organization
swarm robots
|
|
| 收稿日期: 2014-09-19
修回日期:
|
| DOI: |
| 基金项目: 国家自然科学基金(51179156、51379176)资助 |
| 通讯作者:
Email： |
| 作者简介: 杨盼盼(1985-),西北工业大学博士研究生,主要从事群集系统的理论建模与协同控制研究。
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] 刘明雍,雷小康,杨盼盼,等.群集运动的理论建模与实证分析[J].科学通报, 2014, 59(25):2464-2483 Liu Mingyong, Lei Xiaokang, Yang Panpan, et al. Progress of Theoretical Modeling and Empirical Studies on Collective Motion[J]. Chinese Science Bulletin, 2014, 59(25):2464-2483(in Chinese)
[2] Brambilla M, Ferrante E, Birattari M, et al. Swarm Robotics:A Review from the Swarm Engineering Perspective[J]. Swarm Intelligence, 2013, 7(1):1-41
[3] Couzin I D, Laidre M E. Fission-Fusion Populations[J]. Current Biology, 2009, 19(15):R633-R635
[4] 雷小康,刘明雍,杨盼盼.基于邻域跟随的群集系统分群控制算法[J].控制与决策, 2013, 28(5):741-745 Lei Xiaokang, Liu Mingyong, Yang Panpan. Fission Control Algorithm for Swarm Based on Local Following Interaction[J]. Control and Decision, 2013, 28(5):741-745(in Chinese)
[5] 刘明雍,雷小康,彭星光.融合邻域自适应跟随的群集系统分群控制方法研究[J].西北工业大学学报, 2013, 31(2):250-254 Liu Mingyong, Lei Xiaokang, Peng Xingguang. A Control Algorithm for Flock Fission Based on Adaptive Local Following Interaction[J]. Journal of Northwestern Polytechnical University, 2013, 31(2):250-254(in Chinese)
[6] 刘明雍,杨盼盼,雷小康,等.基于信息耦合度的群集式AUV分群控制算法[J].西北工业大学学报, 2014, 32(4):581-585 Liu Mingyong, Yang Panpan, Lei Xiaokang, et al. ICD(Information Coupling Degree) Based Control Algorithm for Breaking up of Swarm of AUVs(Autonomous Underwater Vehicles) into Subswarms[J]. Journal of Northwestern Polytechnical University, 2014, 32(4):581-585(in Chinese)
[7] Lee G, Chong N Y, Christensen H. Tracking Multiple Moving Targets with Swarms of Mobile Robots[J]. Intelligent Service Robotics, 2010, 3(2):61-72
[8] Chen J, Gauci M, Price M J, et al. Segregation in Swarms of E-puck Robots Based on the Brazil Nut Effect[C]//Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems, 2012:163-170
[9] Mondada F, Bonani M, Raemy X, et al. The E-puck, A Robot Designed for Education in Engineering[C]//Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions, 2009:59-65
[10] Gutiérrez Á, Campo A, Dorigo M, et al. Open E-puck Range & Bearing Miniaturized Board for Local Communication in Swarm Robotics[C]//IEEE International Conference on Robotics and Automation, 2009:3111-3116
[11] Gutiérrez Á, Campo A, Dorigo M, et al. An Open Localization and Local Communication Embodied Sensor[J]. Sensors, 2008, 8(11):7545-7563
[12] Couzin I D, Krause J, Franks N R, et al. Effective Leadership and Decision-Making in Animal Groups on the Move[J]. Nature, 2005, 433(7025):513-516 |
|
|
|
|
|
|
|
