基于响应阈值的群机器人地图创建探索策略

摘要

Mapping is one of important problems in swarm robotics. In this paper, an exploration strategy of mapping in swarm robotics is proposed, which is inspired of response threshold model of wasp swarm. And robots select the next positions according to the given probability by the response function. In the simulation experiments, different values of response threshold in robots and the numbers of robots are set up. According to the evaluation metrics, the results of experiment are evaluated and analyzed. The results show that the algorithm is efficient and feasible.%地图创建是群机器人研究的若干基准任务之一。文章提出一种群机器人地图创建的探索策略，该策略根据黄蜂群的响应阈值模型设计了响应函数，机器人根据响应函数对下一访问位置进行概率选择。对算法分别进行了不同机器人数量和不同响应阅值的计算机模拟实验，根据算法评价指标对实验结果进行评价，并对实验结果进行了分析，结果表明算法是有效可行的。