Swarm-robot grid distribution and motion in complicated environment

doi:10.3778/j.issn.1002-8331.2008.30.003

Computer Engineering and Applications ›› 2008, Vol. 44 ›› Issue (30): 9-12.DOI: 10.3778/j.issn.1002-8331.2008.30.003

• 博士论坛 • Previous Articles Next Articles

Swarm-robot grid distribution and motion in complicated environment

XIONG Ju-feng¹,TAN Guan-zheng²

1.College of Physics and Information Science，Hunan Normal University，Changsha 410081，China
2.College of Information Science and Engineering，Central South University，Changsha 410083，China

Received:2008-06-03 Revised:2008-07-25 Online:2008-10-21 Published:2008-10-21
Contact: XIONG Ju-feng

复杂环境中群机器人网格分布与移动

熊举峰¹,谭冠政²

1.湖南师范大学物理与信息科学学院，长沙 410081
2.中南大学信息科学与工程学院，长沙 410083

通讯作者: 熊举峰

Abstract

Abstract: How to control swarm formation in complicated environment is a challenging problem.This paper analyzes the principle on grid distribution and motion control of swarm-robot based on virtual force，puts forward some performance judgment parameters（such as stabilization time，collision times，connection number，cluster number，and so on）.The effect of virtual force on grid formation motion is discussed.The result of the experiment shows that this method can accomplish the grid distribution and motion control robustly and efficiently.At last，the directions of further research are proposed.

Key words: swarm-robot system, virtual force, grid distribution, formation motion

摘要： 如何控制不受数量限制的群机器人形成队形并在复杂环境中移动，是一个极具挑战性的问题。基于虚拟力原理分析了群机器人网格队形分布和移动控制方法，制定了详细的系统性能评价指标（稳定时间、碰撞次数、连接数、簇数等参数），研究了网格队形在复杂环境中的移动以及不同虚拟力对移动的影响。通过在复杂障碍物环境中的仿真，显示出该方法可以鲁棒、有效地完成网格分布和移动任务。指出了今后的研究方向。

关键词: 群机器人系统, 虚拟力, 网格分布, 队形移动

XIONG Ju-feng¹,TAN Guan-zheng². Swarm-robot grid distribution and motion in complicated environment[J]. Computer Engineering and Applications, 2008, 44(30): 9-12.

熊举峰¹,谭冠政². 复杂环境中群机器人网格分布与移动[J]. 计算机工程与应用, 2008, 44(30): 9-12.

[1]	WANG Haoxiang, LI Na, LI Qiangyi. Research on Improved Virtual Force Maximum Coverage Location Algorithm [J]. Computer Engineering and Applications, 2020, 56(20): 220-225.
[2]	WANG Yongjie. Algorithm designs for node placement in networks [J]. Computer Engineering and Applications, 2018, 54(20): 80-86.
[3]	DANG Xiaochao1，2, WANG Hongmei1, HAO Zhanjun1，2. Covering algorithm related with area division and virtual forces in three-dimensional [J]. Computer Engineering and Applications, 2017, 53(2): 107-111.
[4]	SONG Mingzhi, YANG Le. Random deployment of sensor nodes using enhanced VFPSO algorithm [J]. Computer Engineering and Applications, 2016, 52(2): 141-145.
[5]	DANG Xiaochao1，2, SHEN Sicheng1, HAO Zhanjun1，2, ZHAO Hongzhang1, XU Yuejiao1. Mobile coverage algorithm based on virtual force in WSN [J]. Computer Engineering and Applications, 2016, 52(11): 88-93.
[6]	YAN Zheping1, DU Pengjie1, HOU Shuping2, ZHAO Jicheng1. Study on Multi-UUV formation coordination control for moving-target hunting [J]. Computer Engineering and Applications, 2015, 51(9): 46-51.
[7]	CHEN Hang, WANG Dong, LI Xiaohong. Precision deployment algorithm based on virtual force in mobile wireless sensor network [J]. Computer Engineering and Applications, 2014, 50(1): 63-67.
[8]	FU Hai-tao，CHAI Qiao-lin，LI Tao . Multi-covering algorithm for covering hot spots completely [J]. Computer Engineering and Applications, 2010, 46(35): 69-71.
[9]	JIN Ying-lian，WANG Bin-rui，WU Shan-qiang. Avoiding obstacles using virtual force field with humanoid strategy for autonomous robot in 2-D environment [J]. Computer Engineering and Applications, 2010, 46(34): 215-218.
[10]	XIONG Ju-feng^1,2,TAN Guan-zheng²,PI Jian¹. Swarm-robots capturing algorithm based on virtual force [J]. Computer Engineering and Applications, 2008, 44(25): 48-51.
[11]	. Formation control of Swarm robots based on Virtual force [J]. Computer Engineering and Applications, 2007, 43(5期): 185-188.
[12]	XIONG Ju-feng^1,2,TAN Guan-zheng²,PI Jian¹. Design and realization of simulation system for swarm-robot [J]. Computer Engineering and Applications, 2007, 43(30): 104-107.

Swarm-robot grid distribution and motion in complicated environment

复杂环境中群机器人网格分布与移动

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 12

Recommended Articles

Metrics