Group robot cooperation search method based on improved particle swarm algorithm

A technology for improving particle swarms and swarm robots, which is applied in the field of collaborative search of swarm robots based on improved particle swarm algorithm, which can solve the problems of easy omission in remote areas, low search efficiency of particle swarm algorithm, and concentrated exploration range.

Inactive Publication Date: 2018-12-07
DALIAN UNIV OF TECH +1
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Problems solved by technology

[0006] Aiming at the problems existing in the prior art, the present invention provides a swarm robot collaborative search method based on the improved particle swarm algorithm, which can solve the problems that the robot faces when performing search tasks in an unknown environment, such as too concentrated exploration range, easy omission in remote areas, and particle The problem of low search efficiency in the late stage of group algorithm

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  • Group robot cooperation search method based on improved particle swarm algorithm
  • Group robot cooperation search method based on improved particle swarm algorithm
  • Group robot cooperation search method based on improved particle swarm algorithm

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Embodiment Construction

[0067] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0068] The present invention is a multi-robot cooperative target search method. Each robot performs a rough search through roaming search, and after sensing a target signal, forms a search alliance through local communication according to a probability threshold method. In the search alliance, the fine search for the target position is realized through the improved particle swarm optimization algorithm. Specifically include the following steps:

[0069] A. Robot system state initialization, such as robot characteristics, quantity, maximum speed, communication neighborhood radius, initial position area, environmental boundary, etc. The initial speed and initial position of the robot are randomly generated within the speed limit and position area. The robot's maximum detection radius for signals.

[0070] A1. Task model:

[0071] The robot s...

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Abstract

A group robot cooperation search method based on an improved particle swarm algorithm belongs to the group robot technology field and is used to improve problems that an exploration range is too concentrated and a remote area is easy to omit. The method comprises the following steps of (1) initializing a robot system state; (2) using an artificial potential field improvement strategy to carry outroaming search and obtaining the rough position of a target; (3) detecting a target signal by a robot, and then determining whether to obtain a target search right according to a result, and decidingwhether to continue the roaming search or enter a cooperation search phase; (4) adopting the improved particle swarm algorithm by a robot group searching for a same target, carrying out fine search onthe target and improving search efficiency; and (5) discovering all the targets by roaming robots, and carrying out fine positioning through the particle swarm algorithm and ending the task. In the method, the task can be effectively completed during multi-robot cooperation target search; and a PSO algorithm based on an assisted orientation technology can be used to improve the convergence efficiency of the later period of the particle swarm algorithm.

Description

technical field [0001] The invention belongs to the technical field of swarm robots and provides a collaborative search method for swarm robots based on an improved particle swarm algorithm. Background technique [0002] The research on swarm robots comes from the inspiration brought by the behavior of biological populations. A single robot is considered to be unintelligent, but it can achieve the expected goal through group behavior and embody intelligence. G.Beni first proposed the concept of group robots. Swarm intelligence research is dedicated to simulating the swarm intelligence of creatures in nature, so that individuals with simple perception can emerge swarm intelligence through local communication. The characteristics of swarm robots: (1) robots have independent perception and communication capabilities; (2) robots have weak capabilities and low cost; (3) robots are independent of each other and have a fully distributed structure; (4) self-organization based on lo...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G06N3/00
CPCG05B13/042G06N3/006
Inventor 郝应光路世杰王兵吴尚阳赵雪松韩科谢蓓敏尹维崴李睿
Owner DALIAN UNIV OF TECH
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