机器人Issue(2)：142-151,10.DOI:10.13973/j.cnki.robot.2015.0142
群机器人多目标搜索中的合作协同和竞争协同
Cooperative and Competitive Coordination in Swarm Robotic Search for Multiple Targets
摘要
Abstract
The swarm robots should be divided into some sub-swarms through task allocation when searching for multiple targets so as that each sub-swarm can work together on a desired target. For this end, a strategy of control is proposed which apply to cooperation relationship and competition relationship between some sub-swarms. To coordinate cooperatively, a spokesperson for each sub-swarm is required to elect in a self-organization fashion. On behalf of its sub-swarm, it commu-nicate with spokespersons of other sub-swarms, exchanging the respective local best information with these spokespersons each other, guiding its sub-swarm to search a target. For coordinating competitively, a mechanism of contract is proposed. These advantage sub-swarms contract with targets. On the contrast, those disadvantage sub-swarms abandon searching these targets. In a word, we design a control algorithm for the two kinds of coordination at coarse granularity level. Simulation results show that, coordinating cooperatively expand robots’ sense range. Coordinating competitively resolve space conflicts. Coordinating which occur between sub-swarms at coarse granularity level and in sub-swarm frame at fine granularity level, promote search efficiency to more high obviously than the existed methods.关键词
群机器人学/多目标搜索/协同/合作/竞争Key words
swarm robotics/multiple targets search/coordination/cooperation/competition分类
信息技术与安全科学引用本文复制引用
张云正,薛颂东,曾建潮..群机器人多目标搜索中的合作协同和竞争协同[J].机器人,2015,(2):142-151,10.基金项目
国家自然科学基金资助项目（61165016，61472269，61403271）；山西省自然科学基金资助项目（2013011019-4，2014011019-2）；太原科技大学同洲电子科技创新基金资助项目（TZ201304）． （）
