【作者】 熊举峰； 谭冠政；

【Author】 Xiong Jufeng1,2,Tan Guanzheng1 1.College of Information Science and Engineering,Central South University,Changsha 410083,P.R.China 2.College of Physics and Information Science,Hunan Normal University,Changsha 410081,P.R.China

【机构】 中南大学信息科学与工程学院； 湖南师范大学物理与信息科学学院；

【摘要】 群机器人学是多机器人系统的一个重要研究方向,其主要特点是系统包含大量个体。如何控制不受数量限制的群机器人系统,是一个极具挑战性的问题。网格分布是指大量机器人按照一定的要求均匀分布在某一区域中。本文基于人工物理原理分析了群机器人网格分布控制原理和方法,并制定了详细的系统性能评价指标(稳定时间、碰撞次数、覆盖率、连接数、簇数、分布密度等参数),还提出了采用曲线拟合法构建虚拟力模型。通过在无障碍物和有障碍物环境中的网格分布和移动仿真,显示出该方法可以鲁棒、有效的完成网格分布。指出了今后的研究方向。更多还原

【Abstract】 Swarm robotics is one of the important research directions of multi-robot systems,whose major feature is that the system includes many robots.How to control swarm-robot system is a challenging problem.Grid distribution means that a lot of robots distribute averagely in an area when they are demanded.We analyses a principle and method that based on artifi-cial physics,we also put forward some performance judgment parameters(such as stabilization time,collision times,overlay rate,connection number,cluster number,distributing density and so on);Meanwhile,we extend the virtual force model to use curve-fitting method.The result of the experiment shows that this method can accomplish the grid distributing control robus-tly and efficiently in a complicated environment.At last,the directions of further research are proposed.更多还原