| 面向多目标搜索的群机器人任务分配研究 |
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| 引用本文： | 宋玉丽,张国有,曾建潮,薛颂东. 面向多目标搜索的群机器人任务分配研究[J]. 太原科技大学学报, 2012, 33(4): 262-268 |
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| 作者姓名： | 宋玉丽 张国有 曾建潮 薛颂东 |
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| 作者单位： | 太原科技大学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： | 针对群机器人在多目标搜索过程中的协作分工问题,受黄蜂群劳动分工的启发,在黄蜂群的响应阈值模型中引入距离变量来解决群机器人多目标搜索中的任务分配问题。当机器人感知到目标信号时,机器人根据当前搜索该目标的机器人数量以及自身距群体最优位置之间的距离决定是否参与搜索该目标信号,从而实现了机器人之间针对搜索不同目标的任务分配。仿真结果表明,该方法有效可行。
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| 关 键 词： | 群机器人 多目标搜索 黄蜂群算法 任务分配 |
Research on Task Allocation in Multi-Target Localization in Swarm Robotics Based on Response Threshold Model |
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| SONG Yu-li,ZHANG Guo-you,ZENG Jian-chao,XUE Song-dong. Research on Task Allocation in Multi-Target Localization in Swarm Robotics Based on Response Threshold Model[J]. Journal of Taiyuan University of Science and Technology, 2012, 33(4): 262-268 |
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| Authors: | SONG Yu-li ZHANG Guo-you ZENG Jian-chao XUE Song-dong |
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| Affiliation: | (Complex System and Computational Intelligence Laboratory,Taiyuan University of Scienceand Technology,Taiyuan 030024,China) |
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| Abstract: | Aiming at collaboration and task allocation of swarm robots in multi-target localization,inspired by division of labor in social wasp,the distance variable is applied to response threshold model to solve task allocation in swarm robotics.Robots will decide whether to search the target depending on the number of robots searching for the target and the distance between them and the global best while detecting the signals emitted from targets,and the robots can effectively allocate the task based on different signals.Simulation results have shown that this method is feasible and effective. |
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| Keywords: | swarm robotics multi-target localization wasp swarm algorithm task allocation |
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