CAJ | 학술논문

针对群机器人在多目标搜索过程中的协作分工问题,受黄蜂群劳动分工的启发,在黄蜂群的响应阈值模型中引入距离变量来解决群机器人多目标搜索中的任务分配问题。当机器人感知到目标信号时,机器人根据当前搜索该目标的机器人数量以及自身距群体最优位置之间的距离决定是否参与搜索该目标信号,从而实现了机器人之间针对搜索不同目标的任务分配。仿真结果表明,该方法有效可行。
침대군궤기인재다목표수색과정중적협작분공문제,수황봉군노동분공적계발,재황봉군적향응역치모형중인입거리변량래해결군궤기인다목표수색중적임무분배문제。당궤기인감지도목표신호시,궤기인근거당전수색해목표적궤기인수량이급자신거군체최우위치지간적거리결정시부삼여수색해목표신호,종이실현료궤기인지간침대수색불동목표적임무분배。방진결과표명,해방법유효가행。
Aiming at collaboration and task allocation of swarm robots in multi-target localization, inspired by divi- sion of labor in social wasp, the distance variable is applied to response threshold model to solve task allocation in swarm robotics. Robots will decide whether to search the target depending on the number of robots searching for the target and the distance between them and the global best while detecting the signals emitted from targets, and the robots can effectively allocate the task based on different signals. Simulation results have shown that this method is feasible and effective.