Repulsion pheromone based multi-robot cooperation

Computer Engineering and Applications ›› 2007, Vol. 43 ›› Issue (22): 18-20.

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Repulsion pheromone based multi-robot cooperation

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

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

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

哈尔滨工业大学机器人研究所，哈尔滨 150001

通讯作者: 姜健

Abstract

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

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

JIANG Jian，ZHAO Jie，YAN Ji-hong，ZANG Xi-zhe. Repulsion pheromone based multi-robot cooperation[J]. Computer Engineering and Applications, 2007, 43(22): 18-20.

姜健，赵杰，闫继宏，臧希喆. 基于排斥信息素的多机器人协作研究[J]. 计算机工程与应用, 2007, 43(22): 18-20.

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Repulsion pheromone based multi-robot cooperation

基于排斥信息素的多机器人协作研究

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