The Design Of Swarm Robots Self-charging System

With the gradual maturity of researches in swarm intelligence areas,swarm robots are increasingly used for complicated and long-term tasks.Problems of swarm robots long-term autonomy and independent survivalability become one of the hotspots of researches in this area, and of witchself-charging is the primal and most important issue.The function of swarm self-charging system is to refuel the robotsgroup efficiently and reasonably, which is an essential condition forindependent survival. Different from researches for individual robot,swarm self-charging technology is for the purpose of group coexistence. Inthis thesis, robots are capable of self-charging independently, and they alsocommunicate, collaborate and codetermine to play the advantages of groupand avoid conflict between individuals.This article presents a preliminary research and exploration of swarmself-charging technology. The first part gives a detailed discussion ofsoftware and hardware design and implementation for individual robotself-charging, and second part focuses on selecting algorithm and strategyof swarm self-charging. The concrete content includes the following threeparts.(1) Hardware platform, consisting of rechargeable robots, chargingfiled, charging station and monitoring system. It is the basis of experimentsand tests.(2) Charging navigation, including navigation strategy and dockingstrategy. Navigation strategy is based on image processing algorithm of“point identification and tracking for binary image”. Docking strategy gives some solutions according to the high precision demand and theproblem of collisions.(3) Multiple robots queuing to recharge. Robots share information ofremaining battery capacity in the group. Selecting and charging timingdecision algorithms are designed.In this paper, the implementation of swarm robots self-charging andsome relevant problems are discussed systematically. Experimental resultsshow that the design is feasible and scientific.