Neural network-based method for swarm robots to realize cooperative foraging through using pheromone-based communication
A neural network, swarm robot technology, applied in the direction of instruments, general control systems, comprehensive factory control, etc., can solve the problem that multi-robot behavior learning is not well solved, to promote local communication, accelerate the emergence process, and automatically optimize. Effects of paths and actions
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[0112] Example: Simulation experiment of swarm robot collaborative foraging
[0113] In order to illustrate the realization method of pheromone communication among swarm robots based on neural network, a simulation experiment was carried out on the mobile robot environment modeling and exploration software platform established in the laboratory. The nest of the foraging robot is located in the lower left corner of the working space. The robot starts to search for food sources from the nest. The food source is located in the upper right corner of the working environment. As shown in Figure 4(a), the gray rectangle is movable obstacle. The repulsive pheromone P released by the search robot (circle) according to equation (1) "discrete-time dynamic equation of the i-th neuron" o and P e Gradually attenuates and propagates to the entire workspace, as shown in Figure 4(b), the repelling pheromone P o and P e The area of is the area that the robot has already searched, and the ...
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