Multitarget Search of Swarm Robots in Unknown Complex Environments
Joint Authors
Zhou, You
Chen, Anhua
Zhang, Hongqiang
Zhang, Xin
Zhou, Shaowu
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-15
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
When searching for multiple targets in an unknown complex environment, swarm robots should firstly form a number of subswarms autonomously through a task division model and then each subswarm searches for a target in parallel.
Based on the probability response principle and multitarget division strategy, a closed-loop regulation strategy is proposed, which includes target type of member, target response intensity evaluation, and distance to the corresponding individuals.
Besides, it is necessary to make robots avoid other robots and convex obstacles with various shapes in the unknown complex environment.
By decomposing the multitarget search behavior of swarm robots, a simplified virtual-force model (SVF-Model) is developed for individual robots, and a control method is designed for swarm robots searching for multiple targets (SRSMT-SVF).
The simulation results indicate that the proposed method keeps the robot with a good performance of collision avoidance, effectively reducing the collision conflicts among the robots, environment, and individuals.
American Psychological Association (APA)
Zhou, You& Chen, Anhua& Zhang, Hongqiang& Zhang, Xin& Zhou, Shaowu. 2020. Multitarget Search of Swarm Robots in Unknown Complex Environments. Complexity،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1144472
Modern Language Association (MLA)
Zhou, You…[et al.]. Multitarget Search of Swarm Robots in Unknown Complex Environments. Complexity No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1144472
American Medical Association (AMA)
Zhou, You& Chen, Anhua& Zhang, Hongqiang& Zhang, Xin& Zhou, Shaowu. Multitarget Search of Swarm Robots in Unknown Complex Environments. Complexity. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1144472
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1144472