CAJ | 학술논문

针对目标搜索过程中的群机器人协作问题,以扩展微粒群算法为建模工具和协调控制工具,比较研究同步和异步通信模式对搜索效率和系统能耗的影响。仿真结果表明,对于同等规模的群机器人系统,异步通信模式下的搜索效率比同步通信模式下高,能耗却比同步通信模式下低。因此,对于分布式协同的群机器人施加并发控制时,异步通信模式更为适合。
침대목표수색과정중적군궤기인협작문제,이확전미립군산법위건모공구화협조공제공구,비교연구동보화이보통신모식대수색효솔화계통능모적영향。방진결과표명,대우동등규모적군궤기인계통,이보통신모식하적수색효솔비동보통신모식하고,능모각비동보통신모식하저。인차,대우분포식협동적군궤기인시가병발공제시,이보통신모식경위괄합。
Aiming at the collaboration of swarm robots in target searching,with the extended particle swarm optimization method as modeling and coordination control tools,this paper introduces the influences of synchronous and asynchronous communication modes on working efficiency and energy consuming.Simulation results show that the asynchronous communication mode is predominated over its synchronous opponent in efficiency and energy consuming as to the same swarm size.Therefore,the asynchronous communication mode is more suitable for swarm robots working in distributive coordination manner.