Swarm robot dynamic encirclement control method and system based on gene regulation and control network

A gene regulation network, swarm robot technology, applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc.

Active Publication Date: 2021-03-09
SHANTOU UNIV
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Problems solved by technology

[0005] The present invention provides a group robot dynamic capture control method and system based on a gene regulation netw...

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  • Swarm robot dynamic encirclement control method and system based on gene regulation and control network
  • Swarm robot dynamic encirclement control method and system based on gene regulation and control network
  • Swarm robot dynamic encirclement control method and system based on gene regulation and control network

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[0031] The concept, specific structure and technical effects of the present application will be clearly and completely described below in conjunction with the embodiments and drawings, so as to fully understand the purpose, scheme and effect of the present application. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0032] refer to figure 1 ,Such as figure 1 Shown is a method for dynamic round-up control of group robots based on gene regulation network provided by the embodiment of the present application. The method includes the following steps:

[0033] Step S1, control the swarm robot to search in an unknown environment until the target is found;

[0034] Specifically, the swarm robots walk randomly in an unknown environment. When any robot finds the target, the robot will interact with the swarm robots in real time with the information of the searched ta...

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Abstract

The invention relates to the technical field of swarm intelligence, in particular to a swarm robot dynamic encirclement control method and system based on a gene regulation and control network, and the method comprises the steps: controlling swarm robots to search in an unknown environment until a target is searched; after the swarm robot searches the target, detecting the environment informationaround the target by using a sensor carried by the swarm robot to obtain the relative position of the target and the relative position of an obstacle in the environment around the target; then, inputting the relative position of the target and the relative position of the obstacle into the gene regulation and control network model for iterative training to obtain a trained gene regulation and control network model; finally, generating a swarm aggregation form according to the trained gene regulation and control network model, controlling the swarm robot to surround the target according to theswarm aggregation form. The method can efficiently complete the encirclement task in real time in a complex, dynamic and unknown environment.

Description

technical field [0001] The invention relates to the technical field of swarm intelligence, in particular to a method and system for dynamically rounding up control of swarm robots based on a gene regulation network. Background technique [0002] In the prior art, research on swarm intelligence based on biological evolution mechanism is mainly carried out from two levels, that is, swarm intelligence research based on animal group behavior (macro level) and swarm intelligence research based on biological cell evolution mechanism (micro level). Group aggregation behavior is very common in biological groups, including the formation and maintenance of group morphology. Specifically, the generation of swarm aggregation forms is generally generated by multi-robots cooperating with each other to generate a swarm aggregation form with a certain shape. Local information interaction is formed by self-organization and collaboration. [0003] In the past decade, many researchers have d...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0287G05D1/0242G05D1/0246G05D1/0255G05D1/0214G05D1/0276Y02P90/02
Inventor 范衠李晓明王诏君王柳黄华兴林培涵马培立龙周彬
Owner SHANTOU UNIV
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