群体工程需求导向的群机器人操作

摘要

At first,the mechanism of man-swarm robots based operation is described.Then the status feedback mecha-nism about member robots of swarm is built.The evaluation result on level of robotic resource deploy is regarded as feed-back to be linked to the comparison operation point for search meta-task selection.The aim is that the personalized task set for each robot and sub-swarm structure can be updated orderly.The results of assessment on task allocation indicate that the effect of swarm operation on collective behaviors emerging under framework of self-organization.%群机器人研究是应用驱动的,要用群机器人解决现实世界中的应用问题,则群体工程的需求不能忽略.结合群机器人目标搜索中决策类集体行为涌现控制实例,探讨自组织机制下群机器人系统的操作控制.阐述以人-群机器人交互为基础的操作控制机理,建立机器人状态反馈机制,将搜索空间中机器人资源配置水平的评估结果作为反馈,将搜索元任务的遴选作为介入点,通过比较操作动态更新机器人个性化任务集,自适应地生成子群结构,完成任务分工.对任务分工效果的评估,揭示了自组织框架内人工操作控制对集体行为涌现的作用.