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Swarm robot mode generation and conversion method of multistage variable gene regulation and control network

A gene regulation network and swarm robot technology, applied in artificial life, instruments, computing models, etc.

Active Publication Date: 2020-07-31
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

All in all, the aggregation of swarm robots in different modes can produce different functions, adapt to different environments, and complete different tasks, and the transformation of form depends on the local interaction between the robot and the environment, but the current research cannot completely solve the above problems

Method used

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  • Swarm robot mode generation and conversion method of multistage variable gene regulation and control network
  • Swarm robot mode generation and conversion method of multistage variable gene regulation and control network
  • Swarm robot mode generation and conversion method of multistage variable gene regulation and control network

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Experimental program
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Effect test

Embodiment 1

[0082] The present invention firstly designs a concept map of the working scene of group robots, such as figure 1 As shown, the dotted oval frame represents the base, and the unfilled solid line circle represents the initial form - "stem cell robot". The meaning of the icon is shown in the figure. In the conceptual scene, the "reconnaissance organization robot" has a small form and uses a wandering form to search the map. After encountering a type 1 target, it transforms into a small "transportation organization robot" and brings the type 1 target back to the base. After encountering a type 2 target, it will transform into a large "attack organization robot" and call for support. The medium form "communication organization robot" will send the information back to the base. After receiving the information, the base will broadcast the type 2 target globally. The nearest other organization robots respond to the task, move to the vicinity of the target and automatically transform ...

Embodiment 2

[0151] This embodiment verifies the feasibility, scalability and adaptability of the MLV-GRN model through simulation experiments. The simulation environment is set to a square area of ​​25mх25m, the base is located in the middle, and there are complex environments including convex polygons, concave polygons, and irregular narrow roads in the environment. Type 1 targets and type 2 targets are randomly distributed in the environment, and the robot starts from the base , the time step of a complete experiment is 300, the F designed by Example 1 1 , F 2 , F 3 And its total fitness function F, to analyze the performance of the group, so as to evaluate the performance of the model.

[0152] Regarding feasibility:

[0153] In order to verify the feasibility of the model, this embodiment selects 10 robots to form a group, 2 Type 2 targets and 4 Type 1 targets as task targets, and 5 different obstacles constitute a restricted environment. The robot moves at a constant speed of 2 m...

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Abstract

The invention provides a swarm robot mode generation and conversion method for a multistage variable gene regulation and control network, and the method comprises the following steps: obtaining the work scene information of a swarm robot, and designing a gene expression decision tree based on the work scene information and the feature information of the swarm robot; generating a morphological modeof the swarm robot according to the gene expression decision tree by utilizing a gene regulation and control network, wherein morphological functions comprise mode generation of the swarm robot and mode conversion of the swarm robot; adopting a distributed control method, and employing a reaction diffusion principle for driving the swarm robot to enable the morphological mode of the swarm robot to tend to a gene expression decision tree to generate the morphological mode of the swarm robot. According to the method, an optimal form decision can be made in a changing environment, and form generation and conversion can be effectively completed.

Description

technical field [0001] The invention relates to the field of swarm robot control, and specifically discloses a method for generating and converting swarm robot patterns of a multi-level variable gene regulation network. Background technique [0002] Swarm robotics is an approach to collective robotics that takes inspiration from the self-organizing behavior of social animals. With simple rules and local interactions, swarm robotics aims to design robust, scalable and flexible collective behaviors to coordinate large numbers of robots. The main characteristics of a swarm robotic system are as follows: the robots are autonomous; the robots are located in the environment and can take actions to modify it; the sensing and communication capabilities of the robots are limited; and the robots cooperate to solve specific tasks. In recent years, with the rapid development of 5G communication, edge cloud, artificial intelligence and other technologies, robot swarms have been graduall...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06N3/00
CPCG06N3/008G06N3/006
Inventor 包卫东朱晓敏马力吴梦袁宇彤陶晶晶张耀鸿王吉周文张亮
Owner NAT UNIV OF DEFENSE TECH
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