Research On The Cooperative Risk Avoidance Method Of Swarm Robots Based On Selective Interaction Model

With the development of science and technology,automation and system integration technology,especially the robotic technology,have made significant progress and have been widely used in medical,industrial,military fields.For the complex scenarios and varied operating circumstance,the cooperative risk avoidance behavior of swarm robots is widely used in engineering.However,classical collaboration methods mostly adopt the "average consensus" interaction rule,which leads to the low efficiency of risk avoidance.Accordingly,this dissertation focuses on the cooperative risk avoidance method of swarm robots.A selective interaction model is proposed,which can promote the propagation of external threats information by only using the information with the specific neighbors,to improve the risk avoidance efficiency of swarm robots.Then,a selective interaction model based risk avoidance control algorithm and a risk avoidance control algorithm considering limited visual angle is further designed.Finally,simulations on the Webots platform illustrate the effectiveness of the proposed algorithm.The main work and contributions are as following:(1)For the cooperative risk avoidance problem of swarm robots,the selective interaction model is established,the strategy of collaborative motion for swarm robots is designed,and the cooperative risk avoidance control algorithm for swarm robots based on selective interaction is proposed,which realizes the spontaneous avoidance behavior of swarm robots under the external threats.Simulation results illustrate the effectiveness of the proposed risk avoidance control algorithm.(2)In consideration of the influence of sensing radius and limited visual angle of robot,a cooperative motion strategy of swarm robots with limited visual angle is proposed,and the cooperative risk avoidance control algorithm of swarm robots with limited perspective is designed to achieve risk avoidance stably and efficiently under the constraint of visual angle.The simulation results verify the effectiveness of the proposed control algorithm.(3)To verify the effectiveness of the selective interaction model based risk avoidance control algorithm,the E-puck swarm robot is deployed to perform the experiment.Together with the kinematics model and measured information of neighbors,the cooperative risk avoidance control algorithm is designed for E-puck swarm robot.Simulation on the Webots platform validates the feasibility and effectiveness of the proposed algorithm.