CAJ | 학술논문

为了进一步发挥多机器人系统在协作搬运过程中的执行效率，提出了一种新的基于干扰素调节的免疫网络分配算法。将箱子和机器人分别看作抗原和抗体，首先定义了抗原和抗体之间以及抗体和抗体之间的亲和度；然后根据干扰素作用机制定义了干扰素调节因子；最后借鉴Jerne的独特型免疫网络假设，建立了多机器人协作搬运的新免疫分配模型。多环境测试结果表明：与其他免疫分配算法相比，新算法不仅能显著缩短搬运路径、降低机器人的能量损耗，还能减少参与协作的机器人数目，提高了系统的执行效率，充分体现了多机器人系统协作中任务分配的合理性，显示出较强的任务规划能力。
위료진일보발휘다궤기인계통재협작반운과정중적집행효솔，제출료일충신적기우간우소조절적면역망락분배산법。장상자화궤기인분별간작항원화항체，수선정의료항원화항체지간이급항체화항체지간적친화도；연후근거간우소작용궤제정의료간우소조절인자；최후차감Jerne적독특형면역망락가설，건립료다궤기인협작반운적신면역분배모형。다배경측시결과표명：여기타면역분배산법상비，신산법불부능현저축단반운로경、강저궤기인적능량손모，환능감소삼여협작적궤기인수목，제고료계통적집행효솔，충분체현료다궤기인계통협작중임무분배적합이성，현시출교강적임무규화능력。
In order to further improve the executing efficiency of multi-robot systems during cooperative handling , a new interferon regulation-based immune network algorithm is put forward .The affinities between the antibody and antigen as well as the antibodies are defined firstly by taking the boxes and robots as the antigen and antibody , re-spectively;secondly , the interferon adjustment factor according to the interferon mechanism is defined;thirdly, the new multi-robot task allocation model is established based on Jerne's idiotypic network hypothesis .Compared with the correlative immune allocation algorithms , the test results from multiple environments indicate that the proposed algorithm not only markedly shortens the handling path and reduces energy loss , but also reduces the amount of ro-bots in cooperation , which shows the rationality of the tasking allocation and the stronger planning ability of the pro-posed allocation model .