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Swarm robot target searching method based on implicit information interaction mode

A technology for information interaction and target search, applied in location-based services, geographic information databases, machine-to-machine/machine-type communication services, etc. It can solve channel interference, robots cannot share individual information, and cannot reflect group advantages. And other issues

Active Publication Date: 2019-10-25
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, this broadcast interaction method will be restricted by channel interference and insufficient communication bandwidth, and the transmission of information in the medium will also consume additional energy, and individuals must reach a broad consensus on the meaning of specific signals. relatively high cost
Moreover, due to the existence of communication constraints, the communication and interaction between different robots cannot be completed normally, and the robots cannot share information between individuals, resulting in each individual searching independently, which cannot reflect the advantages of the group, and is only one plus one. simple combination

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  • Swarm robot target searching method based on implicit information interaction mode
  • Swarm robot target searching method based on implicit information interaction mode
  • Swarm robot target searching method based on implicit information interaction mode

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Embodiment Construction

[0028] The target search method of group robots of the present invention refers to that a plurality of robots cooperate with each other to complete the search task under the condition that only the geographical location and the size of the search area are known, and the distribution of the targets is unknown.

[0029] Step 1: Set the search area S∈R 2 Gridded to L according to a fixed interval Δs x × L y square discrete units, and each grid is denoted as s c =(x s ,y s ), where x s ∈{1,2,3,...,L x},y s ∈{1,2,3,...,L y}; According to the rasterized search area, a search map is established for each robot, and the search perception map reflects the robot's understanding and cognition of the current search environment. A structure for searching each raster information in the map Indicates that the structure represents the grid s c The coordinate position in the two-dimensional plane and the probability that the target exists in this grid.

[0030] As time goes by, the ...

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Abstract

The invention provides a swarm robot target search method based on an implicit information interaction mode, which comprises the following steps: rasterizing a search area into a plurality of square discrete units according to fixed intervals, and establishing a search map of each robot; secondly, for each robot, updating the probability that a target exists in each grid in the search map according to a self detection result; introducing individuals into a search algorithm to actively detect the states of neighbor robots, and information interaction obstacles among different individuals when broadcast communication cannot be performed are overcome, so that multiple robots cooperate with one another to complete a search task under the condition that the target distribution condition is unknown. According to the method, the dependence on an explicit information interaction mode is eliminated, information fusion is carried out only according to the observation of an individual on the neighbor state, and the problem of multi-robot target search under limited communication is solved by adopting an implicit communication mode according to the observation information.

Description

technical field [0001] The invention relates to a group robot target search method under implicit information interaction, and belongs to the technical field of multi-robot target search. Background technique [0002] Multi-robot target search is a new search technology that uses multiple robots to complete target search tasks. This technology can effectively overcome the limitations of single robot search, such as the failure of a single robot to continue searching, and the lack of battery life of a single robot. [0003] At present, the research on multi-robot target search at home and abroad is mainly represented by coordinated control, which is characterized in that different robots broadcast and communicate their states, and each robot shares data and performs distributed planning. However, this broadcast interaction method will be restricted by channel interference and insufficient communication bandwidth, and the transmission of information in the medium will also con...

Claims

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Application Information

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IPC IPC(8): H04W4/021H04W4/70G06F16/23G06F16/29
CPCG06F16/2379G06F16/29H04W4/021H04W4/70
Inventor 刘明雍李赛楠苏晗石廷超杨扬李嫣然王旭辰黄宇轩
Owner NORTHWESTERN POLYTECHNICAL UNIV
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