丁滢颍, 何衍, 蒋静坪. 基于蚁群算法的多机器人协作策略[J]. 机器人, 2003, 25(5): 414-418.
引用本文: 丁滢颍, 何衍, 蒋静坪. 基于蚁群算法的多机器人协作策略[J]. 机器人, 2003, 25(5): 414-418.
DING Ying-ying, HE Yan, JIANG Jing-ping. MULTI-ROBOT COOPERATION METHOD BASED ON THE ANT ALGORITHM[J]. ROBOT, 2003, 25(5): 414-418.
Citation: DING Ying-ying, HE Yan, JIANG Jing-ping. MULTI-ROBOT COOPERATION METHOD BASED ON THE ANT ALGORITHM[J]. ROBOT, 2003, 25(5): 414-418.

基于蚁群算法的多机器人协作策略

MULTI-ROBOT COOPERATION METHOD BASED ON THE ANT ALGORITHM

  • 摘要: 蚁群算法是一种通过对蚂蚁社会长期观察得来的优化算法.它建立在蚁群的一种叫“外激励”的联系方式上,对解决一些分布式控制问题和复杂的优化问题十分有效.将“外激励”这一概念引入多机器人系统中,设计了一种基于蚁群算法的多机器人协作策略.这一策略可以解决多机器人系统在未知环境工作时所面临的一项艰巨的任务:自主协作规划.定义了多机器人系统在未知环境中可能存在的一个问题:任务死锁;将衰减因子引入协作算法,以防止任务死锁的发生;通过仿真验证了算法的性能.

     

    Abstract: Ant Algorithm is an optimization algorithm that gained by observing the real ant colonies,and it is very useful in solving difficult optimization and distributed control problems.The algorithm is modeled on a concept called “stigmergy” of the ant society.One of the most important problems to the multi robot system is that,when the system is working in an unknown environment,it has to decide which tasks must be done by cooperation of several robots.In this paper,the concept “stigmergy” is introduced to the multi robot system,and a self organization cooperation method enabling different number of robots to cooperate on a task according to the difficulty of it is designed.In addition,the definition of the “Task Deadlock” is given,and an adaptive attenuation factor to eliminate task deadlock is introduced in the cooperation algorithm.Simulation is done to test the algorithm.

     

/

返回文章
返回