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Swarm robot search method based on dynamic particle bee algorithm

A technology of honeybee algorithm and search method, which is applied in the search field of swarm robots, can solve problems such as complex structure, large size, and poor flexibility, and achieve the effects of improving search efficiency, good convergence, and speed improvement

Active Publication Date: 2017-08-29
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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Problems solved by technology

[0003] Although a single robot can complete some simple tasks, due to the fact that a single robot is generally large in size, high in energy consumption, complex in structure, and poor in flexibility, it is not very effective when using a single robot for search tasks. , large number, simple structure, relatively flexible, strong robustness, easier to control than a single robot, and its fault tolerance is strong, even if one of the robots is broken, it will not affect the overall search and other characteristics. Therefore, in recent years, years have received increasing attention

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  • Swarm robot search method based on dynamic particle bee algorithm
  • Swarm robot search method based on dynamic particle bee algorithm
  • Swarm robot search method based on dynamic particle bee algorithm

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Embodiment Construction

[0063] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0064]Inspired by the foraging behavior of bee swarms, the present invention proposes to simulate the process of bee swarm foraging for target search in the process of performing search tasks by swarm robots, that is, in an unknown environment, swarm robots use features to search for targets.

[0065] A search method for swarm robots based on dynamic particle bee algorithm, which specifically includes the following steps.

[0066] A. Modeling the search problem using a combinatorial auction approach.

[0067] Suppose a bidding set G={B of a combination auction 1 , B ,2 ,...B S}, a bid is a two-tuple B j ≤S j ,c ij >0, here the cost function c ij >0 can be regarded as the bidding price, and the cost function c ij Indicates robot R i Search target G j the price required.

[0068] when x ij = 1, it means that the robot R i ...

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Abstract

The invention discloses a swarm robot search method based on a dynamic particle bee algorithm. The method comprises the following steps of using a combined auction method to carry out modeling on a search problem; setting a search field and search time T; and using the dynamic particle bee algorithm to search till that a whole search area is searched or the set search time arrives, and then ending the search. In the invention, based on a dynamic particle algorithm and a bee algorithm, the method is applied to a swarm robot work process so that swarm robots can rapidly search an object in short time, and search efficiency and accuracy of a search result are greatly increased.

Description

technical field [0001] The invention relates to the technical field of robot automatic detection, in particular to a search method for group robots. Background technique [0002] In recent years, the world has started the Industry 4.0 model. Its development direction is to move towards the further integration of the Internet and the Internet of Things, information flow and data flow. It has also accelerated the development of the robot field, improved the software and hardware technology of robots, and broadened the application of mobile robots. It is an unstoppable trend for robots to complete services, home life, industrial production, etc. Robots serving as waiters in restaurants and robotic arms busy in production in factories can be seen everywhere. [0003] Although a single robot can complete some simple tasks, due to the fact that a single robot is generally large in size, high in energy consumption, complex in structure, and poor in flexibility, it is not very effec...

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Application Information

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IPC IPC(8): G06N3/00
CPCG06N3/006
Inventor 花广如赵东雷田微贺宁宁
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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