计算机与现代化Issue(4)：100-105,6.DOI:10.3969/j.issn.1006-2475.2018.04.019
基于改进免疫启发群聚集算法的群机器人自恢复方法
Swarm Robotic System Self-healing Method Based on Improved Immune-inspired Swarm Aggregation Algorithm
摘要
Abstract
Swarm robotic system is an important research direction of multi-robot system,which is composed of many simple and undifferentiated robots.Compared with the individual robot,swarm robotic system has good fault tolerance and robustness,but it will be affected when the partial failure of a robot appears,namely a robot has information interaction ability but no drive ability. Aiming at this problem,an optimal recovery strategy is proposed,which is based on the granuloma formation algorithm inspired by immune system.In the proposed approach, a discrete particle swarm optimization algorithm is introduced, which makes the swarm robotic system have fault self-healing capability and complete its task quickly and effectively.The experimental results show that the proposed approach has good effects in the swarm robotic self -healing system.关键词
群机器人系统/故障自恢复/免疫启发算法Key words
swarm robotic system/fault self-healing/immune-inspired algorithm分类
信息技术与安全科学引用本文复制引用
刘养菊,倪建军..基于改进免疫启发群聚集算法的群机器人自恢复方法[J].计算机与现代化,2018,(4):100-105,6.基金项目
国家自然科学基金资助项目(61203365,61573128) （61203365,61573128）
国家重点研究项目(2016YFC0401606) （2016YFC0401606）
江苏省自然科学基金资助项目(BK2012149) （BK2012149）
