| 基于响应阈值的群机器人地图创建探索策略 |
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| 引用本文： | 阎静,曾建潮,张国有.基于响应阈值的群机器人地图创建探索策略[J].太原科技大学学报,2012,33(5):350-354. |
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| 作者姓名： | 阎静 曾建潮 张国有 |
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| 作者单位： | 太原科技大学计算机科学与技术学院,复杂系统与计算智能实验室,太原030024 |
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| 基金项目： | 国家自然科学基金(60975074);山西省自然科学基金(2009011017-1) |
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| 摘 要： | 地图创建是群机器人研究的若干基准任务之一。文章提出一种群机器人地图创建的探索策略，该策略根据黄蜂群的响应阈值模型设计了响应函数，机器人根据响应函数对下一访问位置进行概率选择。对算法分别进行了不同机器人数量和不同响应阅值的计算机模拟实验，根据算法评价指标对实验结果进行评价，并对实验结果进行了分析，结果表明算法是有效可行的。
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| 关 键 词： | 群机器人 地图创建 阈值模型 探索策略 |
Exploration Strategies of Map Building in Swarm Robotics Based on Response Threshold |
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| YAN Jing,ZENG Jian-chao,ZHANG Guo-you.Exploration Strategies of Map Building in Swarm Robotics Based on Response Threshold[J].Journal of Taiyuan University of Science and Technology,2012,33(5):350-354. |
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| Authors: | YAN Jing ZENG Jian-chao ZHANG Guo-you |
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| Institution: | (Complex System and Computational Intelligence Laboratory,School of Computer Science and Technology, Taiyuan University of Science and Technology,Taiyuan 030024,China) |
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| Abstract: | Mapping is one of important problems in swarm robotics.In this paper,an exploration strategy of mapping in swarm robotics is proposed,which is inspired of response threshold model of wasp swarm.And robots select the next positions according to the given probability by the response function.In the simulation experiments,different values of response threshold in robots and the numbers of robots are set up.According to the evaluation metrics,the results of experiment are evaluated and analyzed.The results show that the algorithm is efficient and feasible. |
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| Keywords: | swarm robots map building model of threshold exploration strategy |
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