Underactuated robot self-organizing aggregation method based on binary environmental information

Abstract

The invention provides an underactuated robot self-organizing aggregation method based on binary environmental information. The underactuated robot self-organizing aggregation method based on binary environmental information is characterized in that during the overall implementation process of the algorithm, the robot only needs one sensor to detect the surrounding environmental information to determine whether other robots exist in the sensor range so as to realize self-organizing aggregation of a group of robots; the state of the sensor of the robot is simplified into two states: I=0 and I-1; I=0 represents that no other robots exist in the sensor range of the robot; I=1 represents that other robots exist in the sensor range of the robot; when the state of the sensor of the robot is I=0,the robot makes uniform speed circular motion backwards along the clockwise circular locus; when the state of the sensor of the robot is I=1, the robot makes uniform speed circular motion forwards along the clockwise circular locus; through constant switching of the two states of the robot, self-organizing aggregation of the robots can be realized; and at the same time, the underactuated robot self-organizing aggregation method based on binary environmental information also provides the algorithm to realize mathematical proof of self-organizing aggregation, thus proving practicability of thealgorithm.

Description

technical field [0001] The invention is a cluster algorithm of self-organization aggregation, which is especially suitable for under-actuated swarm robots. At the same time, the algorithm is also applicable to fully driven robots. Background technique [0002] In the study of swarm robots, the aggregation behavior, which is the basic behavior of swarm creatures, is considered to be the basic swarm behavior that swarm robot systems should have, and it is also a basic research problem for the study of swarm robot system control. Many researchers have devoted themselves to studying how to make swarm robots carry out self-organized gathering movement. Studying the self-organized aggregation of swarm robots is a prerequisite or basic work in the application of swarm robot systems. In swarm robot systems, it is necessary to study how to make swarm robots self-organize and spread, for the following two reasons: [0003] First, in the application of swarm robot systems, robot agg...

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Problems solved by technology

[0005] In order to overcome the problems brought by various complex and changeable environments to the self-organized motion control of group robots, the present invention proposes a self-organized aggregation algorithm for underactuated robots based on binary environmental information, without the need for communication and positioning between robots Information, in the entire algorithm implementation process, the robot only needs one sensor to detect the surrounding environment information, which is used to judge whether there are other robots within the range of the sensor, so as to realize the self-organized aggregation of group robots

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