计算机应用 ›› 2013, Vol. 33 ›› Issue (05): 1298-1304.DOI: 10.3724/SP.J.1087.2013.01298

• 人工智能 • 上一篇    下一篇

基于生物刺激神经网络的多机器人编队方法

仰晓芳,倪建军   

  1. 河海大学 计算机与信息学院,江苏 常州 213022
  • 收稿日期:2012-11-12 修回日期:2012-12-18 出版日期:2013-05-01 发布日期:2013-05-08
  • 通讯作者: 倪建军
  • 作者简介:仰晓芳(1989-),女,安徽池州人,硕士研究生,主要研究方向:多机器人编队;倪建军(1978-),男,安徽黄山人,副教授,博士,主要研究方向:神经网络、多机器人系统。
  • 基金资助:

    国家自然科学基金资助项目(61275185);江苏省自然科学基金资助项目(BK2012149);中央高校基本科研业务费专项资金资助项目(2011B04614)

Multi-robot formation based on biological inspired neural network

YANG Xiaofang,NI Jianjun   

  1. College of Computer and Information, Hohai University, Changzhou Jiangsu 213022 China
  • Received:2012-11-12 Revised:2012-12-18 Online:2013-05-08 Published:2013-05-01
  • Contact: NI Jianjun

摘要: 多机器人编队控制是多机器人协作领域的重要研究内容之一,如何实现多机器人朝同一目标移动的同时保持队形是多机器人编队的一个热点和难点问题。针对这一问题,提出一种新的基于生物刺激神经网络的多机器人动态编队方法,采用基于leader-referenced编队模型实时计算各机器人的虚拟目标位置,利用生物刺激神经网络进行机器人导航。最后进行仿真实验,实验结果表明该方法在实现多机器人实时避障并保持队形的同时,朝同一目标移动,而且可以很快实现队形变换,具有较好的实时性和灵活性。

关键词: 动态编队, 生物刺激神经网络, 机器人导航, 多机器人协作

Abstract: Multi-robot formation control is an important issue in the multi-robot cooperation field. It is a hot and difficult problem to achieve multi-robot dynamic formation while making them move toward the same target. Concerning this problem, a new biological inspired neural network based approach for multi-robot formation was proposed in this paper. In the proposed approach, a leader-referenced formation model was used to calculate the virtual target location for each robot in real-time, and a biological neural network was used to realize multi-robot navigation. Finally, some simulation experiments were carried out. The experimental results show that the proposed approach has some good performances, such as the real-time obstacle avoidance, keeping formation and moving toward the same target. Furthermore, multi-robots can change the formation quickly, which proves the real-time and intelligence of the proposed approach.

Key words: dynamic formation, biological inspired neural network, robot navigation, multi-robot cooperation

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