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Self-organizing task allocation method based on a dynamic response threshold value in group robot foraging

A dynamic response and swarm robot technology, applied in the field of intelligent robots, can solve the problems of reducing the efficiency of swarm robots foraging, poor robustness, and failure to consider the physical interaction of robots, so as to reduce physical interaction, improve robustness, and improve foraging The effect of food efficiency

Active Publication Date: 2019-04-12
SHANDONG UNIV
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Problems solved by technology

[0005]However, swarm robot systems with fixed response thresholds cannot respond appropriately to changes in the environment and are less robust
In addition, the existing task allocation methods do not consider the physical interaction between robots (obstacle avoidance), and more physical interactions between robots in the swarm robot will greatly reduce the efficiency of the swarm robot foraging

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  • Self-organizing task allocation method based on a dynamic response threshold value in group robot foraging
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  • Self-organizing task allocation method based on a dynamic response threshold value in group robot foraging

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[0047] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0048] It should be noted that the terminology used here is only used to describe specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0049] In a typical implementation of the present application, the robot searches the environment and finds ob...

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Abstract

The invention discloses a self-organizing task allocation method based on a dynamic response threshold value in group robot foraging. The method comprises the steps that when a foraging task starts, all robots are gathered in a nest to be in a waiting state, when the waiting time exceeds given time, a dynamic response threshold model is used for calculating the foraging probability, and based on the foraging probability, the robots decide whether to start foraging or not, namely, the robots are switched from the waiting state to a searching state; wherein in the dynamic response threshold model, the traffic flow density, namely the average obstacle avoidance frequency of the robot and the density of the foraging robot within a period of time, is used as a dynamic change threshold to measure the traffic condition of movement of the robot in the environment, and the swarm robot makes an appropriate response to the change of the environment to generate self-organizing task distribution. Adynamic response threshold model based on the traffic flow density is constructed, so that the group robot system can generate self-organized task distribution, physical interaction between robots isreduced, and the foraging efficiency of the group robot is improved.

Description

technical field [0001] The disclosure relates to the technical field of intelligent robots, in particular to a self-organizing task assignment method based on a dynamic response threshold in group robot foraging. Background technique [0002] Swarm intelligence is a branch of artificial intelligence. Inspired by the collective behavior of social insects such as ants and bees and animal communities such as birds and fish, it tries to simulate efficient distributed solutions in nature and apply them to complex optimization problems. middle. Swarm robotics is a new method to coordinate and control a large number of robots, and it is the application of swarm intelligence in multi-robot systems. The swarm robot system is a system established by imitating the behavior of social insects or other social biological groups. It is a robot group composed of many undifferentiated autonomous robots under fully distributed control. The swarm robot can complete complex tasks that a single ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06N3/00G06Q10/06
CPCG06N3/008G06Q10/06311
Inventor 张承进庞豹宋勇王洪玲杨润涛
Owner SHANDONG UNIV
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