CAJ | 학술논문

针对单一探测机器人在复杂环境下可靠性和容错能力较低难以完成探测任务的问题，采用了多机器人协作探测的方法，利用吸引素和排斥素将引力和斥力之间的平衡点作为机器人队形控制及避障行为的约束条件，同时利用信息素之间的反应，计算出指引机器人到达目标点的目标信息素及返回初终点的返回信息素的数值，实现缩小机器人的搜索空间，形成最优路径，提高多机器人的协作探测能力。实验证明，引入信息素反应理论，减化机器人相互协作模型，同时能够完成复杂环境下的机器人探测任务，达到了预期效果。
침대단일탐측궤기인재복잡배경하가고성화용착능력교저난이완성탐측임무적문제，채용료다궤기인협작탐측적방법，이용흡인소화배척소장인력화척력지간적평형점작위궤기인대형공제급피장행위적약속조건，동시이용신식소지간적반응，계산출지인궤기인도체목표점적목표신식소급반회초종점적반회신식소적수치，실현축소궤기인적수색공간，형성최우로경，제고다궤기인적협작탐측능력。실험증명，인입신식소반응이론，감화궤기인상호협작모형，동시능구완성복잡배경하적궤기인탐측임무，체도료예기효과。
In the complex environment, one detection robot is difficult to finish the exploration. At-traction and repulsion pheromone balance between attraction and repulsion is used in this paper for the ro-bot formation control and constraint conditions of the obstacle avoidance behavior. And, reactive phero-mone is used to reduce search space of robots. After practice and application, this method can simplify model of cooperative robots. The desired effect are achieved.