计算机工程与应用 ›› 2007, Vol. 43 ›› Issue (22): 18-20.

• 博士论坛 • 上一篇    下一篇

基于排斥信息素的多机器人协作研究

姜 健,赵 杰,闫继宏,臧希喆   

  1. 哈尔滨工业大学 机器人研究所,哈尔滨 150001
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2007-08-01 发布日期:2007-08-01
  • 通讯作者: 姜 健

Repulsion pheromone based multi-robot cooperation

JIANG Jian,ZHAO Jie,YAN Ji-hong,ZANG Xi-zhe   

  1. Robotics Institute,Harbin Institute of Technology,Harbin 150001,China
  • Received:1900-01-01 Revised:1900-01-01 Online:2007-08-01 Published:2007-08-01
  • Contact: JIANG Jian

摘要: 提出了两种信息素应用的分类方法,一种是将信息素分为点信息素和线信息素,另一种是将信息素分为吸引信息素和排斥信息素。提出了三种排斥信息素应用的多机器人协作任务场合,并进行了仿真研究。仿真结果表明排斥信息素的应用是一种有效的多机器人协作方法。

关键词: 多机器人系统, 协作, 分类, 排斥信息素

Abstract: Two kinds of pheromone classification method is presented.One classification method is pheromene that is classified into point pheromone and line pheromone;the other classification method is pheromone method that is classified into attraction pheromone and repulsion pheromone.Three multi-robot task instances are presented,in which the repulsion pheromone method is used.Simulation experiment results show that the application of repulsion pheromone is an effective multi-robot cooperation method.

Key words: multi-robot systems, cooperation, classification, repulsion pheromone