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Multi-target searching and capturing control method and system for swarm robots

A technology of swarm robots and control methods, applied in general control systems, control/regulation systems, adaptive control, etc., to achieve good adaptability

Active Publication Date: 2021-04-20
SHANTOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0006] The present invention provides a multi-target search and capture control method and system for swarm robots to solve one or more technical problems in the prior art, and at least provide a beneficial choice or create conditions

Method used

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  • Multi-target searching and capturing control method and system for swarm robots
  • Multi-target searching and capturing control method and system for swarm robots
  • Multi-target searching and capturing control method and system for swarm robots

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specific Embodiment

[0093] First evolve the scene settings, specifically:

[0094] Set four narrow roads: strip narrow road 1, strip narrow road 2, circular narrow road, and triangular narrow road, and generate the corresponding fitness function value f of the structure according to the four narrow roads 1 . Specifically, one point is taken at each center position in the four narrow passages, and there are four points in total. The fitness function f at these 4 points 1 The sum is used as the fitness function value f of the parameter population 1 .

[0095]In order to obtain a parameter population that can generate adaptive encircling circles of obstacles of various shapes, the four channels established have variable shapes, different widths, and include both straight and curved boundaries, so they can be used to simulate more complex scenes. If the total fitness value function of a parameter population at these four points can be smaller, it means that the encircling circle generated by the ...

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Abstract

The invention relates to the technical field of swarm robot control, in particular to a multi-target searching and capturing control method and system for swarm robots, and the method comprises the steps: obtaining a plurality of basic elements in a basic element library, and forming a gene regulation and control network model according to a topological structure obtained through the combination of the plurality of basic elements; extracting parameters in the gene regulation and control network model, and performing multi-objective optimization on the parameters according to a fitness function to obtain an optimized gene regulation and control network model; determining the group aggregation form according to the optimized gene regulation and control network, andcontrolling the group robot to perform multi-target searching and capturing in the group aggregation form. Multiple targets can be captured in a complex dynamic environment, and the method has good adaptability.

Description

technical field [0001] The invention relates to the technical field of swarm robot control, in particular to a multi-target search and capture control method and system for swarm robots. Background technique [0002] The gene regulatory network refers to the network formed by the interaction relationship between genes and genes in a cell (or in a specific genome). Among the many interaction relationships, it specifically refers to the interaction between genes based on gene regulation. Gene regulatory network is the mechanism for controlling gene expression in organisms, and its research has extensive biological significance, and is an important research field of genetics and molecular genetics. [0003] Genetic programming can generate almost any gene structure with parameters through the user's definition of the genetic programming function. The network structure with parameters generated by genetic programming has similar performance to deep neural networks, and has inte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 范衠林培涵马培立王琛宁为博李晓明王诏君李文姬
Owner SHANTOU UNIV
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