计算机应用研究2013，Vol.30Issue(1)：94-98,5.DOI:10.3969/j.issn.1001-3695.2013.01.022
基于劳动分工的群机器人地图创建探索策略研究
Research on exploration strategy in map building of swarm robotics based on model of division of labor
摘要
Abstract
Inspiring of division labor of the social insect, this paper proposed an exploration strategy of mapping in swarm robotics to improve the map building efficiency of swarm robot. When the robot found the paths not visited on vertex position, it would randomly chose an unvisited path to access. If all the paths of the current location had been visited,it designed the response function of algorithm in terms of the model of division labor and robots selected the next position according to the given probability. The simulation experiment set up various numbers of vertexes in map and the numbers of robots according to the evaluation metrics which included total coverage time, path repeat coverage time, rate of coverage and so on. This paper evaluated and compared the experimental results with random selection algorithm. The results show that the algorithm is efficient. At last,it put forward the further research.关键词
群机器人/地图创建/劳动分工模型/探索策略Key words
swarm robots/ map building/ model of division labor/ exploration strategy分类
信息技术与安全科学引用本文复制引用
阎静,曾建潮,张国有..基于劳动分工的群机器人地图创建探索策略研究[J].计算机应用研究,2013,30(1):94-98,5.基金项目
国家自然科学基金资助项目(60975074) （60975074）
山西省自然科学基金资助项目(2009011017-1) （2009011017-1）
山西高校科技研究开发资助项目(20091130) （20091130）
太原科技大学博士启动基金资助项目(20102011) （20102011）
