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Multi-target search method for swarm robots in unknown environment

A technology of unknown environment and swarm robots, applied in the field of robot target search, it can solve the problems such as the inability to know the global map and the inability to obtain environmental information in advance, so as to reduce the path and search time and improve the efficiency.

Active Publication Date: 2022-03-08
HUNAN UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In an unknown environment, the environmental information of multi-target search by swarm robots cannot be obtained in advance, and the robot cannot know the global map, but only the obstacles, targets, etc. within the detection range of the sensor, and the communication between robots can only be within the allowed range exchange their information

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  • Multi-target search method for swarm robots in unknown environment
  • Multi-target search method for swarm robots in unknown environment
  • Multi-target search method for swarm robots in unknown environment

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Embodiment Construction

[0094] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0095] Such as figure 1 As shown, a multi-target search method for swarm robots in an unknown environment includes the following steps:

[0096] Step 1: Construct unknown environment model and target response function.

[0097] The process of building an unknown environment model is:

[0098] Finite two-dimensional space R 2 Inside, there exists a universal set U={R∪T∪B}, where group robots R={R i |i=1,2,...,i max ,i max ≥10}, R i is the i-th robot, i max is the total number of robots; target T={T j |j=1,2,...,j max ,j max >1},T j is the jth target, j max is the total number of targets; obstacle B={B s |s=1,2,...,s max ,s max ≥1}, B s is the sth obstacle, s max is the total number of obstacles; R i , T j , B s The positions are denoted as X i (t), T(x j ,y j ), B(x s ,y s ); in this environment, the group robot R acts as the sea...

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Abstract

The invention discloses a multi-target search method for group robots in an unknown environment, comprising the following steps: constructing an unknown environment model; detecting target signals by the robot, performing dynamic division of labor based on the target response function, and forming subgroups of robots that complete the same subtask Alliance; introduce closed-loop adjustment, evaluate the resource allocation of each sub-task, and form a new sub-alliance; the robots that do not form a sub-alliance perform roaming search; the robots that form a sub-alliance are based on the particle swarm algorithm of position estimation and the obstacle avoidance strategy of boundary scan , to search for the target. The obstacle avoidance strategy of the boundary scan of the present invention utilizes the closest two points and the distance and angle relationship between the boundary point and the robot to avoid obstacles; the particle swarm algorithm for target position estimation uses the available target signal to infer the approximate position of the target point, Cooperate with the particle swarm algorithm to quickly reach the target position, thereby reducing the path and search time when searching for the target.

Description

technical field [0001] The invention relates to a robot target search method, in particular to a group robot multi-target search method in an unknown environment. Background technique [0002] Swarm intelligence is inspired by the group behavior of social creatures in nature. It is the ability of simple information processing units to solve problems in the interaction. The information processing units are independent of each other and it is a distributed method. The swarm robot system is a swarm intelligence system with simple robots as information processing units, which has typical distributed characteristics, while individual robots have the characteristics of isomorphism and simple structure. There are simple interactions between robots and between robots and the environment. According to the information obtained from the interaction, each robot performs distributed motion, but intelligent behavior emerges on the entire robot system, and then certain tasks can be complet...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1682B25J9/1676B25J9/1664
Inventor 周游王茂陈安华张红强周少武
Owner HUNAN UNIV OF SCI & TECH
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