Research On Cooperative Search And Motion Of Swarm Robots Based On Artificial Moment Method

At present,science and technology are developing rapidly,but as far as the level of robot manufacturing is concerned,the detection ability and movement ability of a single robot are still very limited.There are many difficulties for a single robot to search targets in a complex environment.If a swarm robots system is used to search,communication is used to improve the detection range of the robots,and the robots are dispersed to enhance the overall motion ability,which will promote the research on target search.Aiming at the above problems,based on swarm robots search method and artificial moment local path planning method,this thesis implements the idea of cooperation,and proposes a research on cooperative search and motion of swarm robots based on artificial moment method.Firstly,the target signal detection function is designed to make the target point can be found by the robots,so that the search task can be carried out.Then the probability response signal function is proposed to enable the robots to select they own intention target,and the robots with the same intention target are temporarily formed into subgroups.Make the robots search cooperatively through the subgroup until there is a robot in the subgroup that coincides with the target.Each sub group is only responsible for searching one target,and each target can only be searched by one sub group.At the same time,in order to prevent robots congestion and waste of robots resources,the number of sub group members is specified.Ranking is based on the position,and the robots with lower ranking will be kicked out and punished for not being able to join the subgroup again.During the search,in order to ensure that the system can successfully search all targets,the robots’ identity will change in the roaming state,cooperative state and successful state.Because the collision avoidance strategy based on the artificial moment method is playing a role at any time during the robots search process,this thesis will not define it as a new state.In this thesis,the roaming state is set to cover as large an area as possible,and at the same time,the direction of motion of the robots is different from that of the surrounding robots as much as possible,so as to ensure that the robots can spread they search and explore the unknown area cooperatively.The robots in the sub group will also conduct cooperative search through communication,which is equivalent to expanding their own perception range.While the cooperation strategy of robots is playing,the competitive relationship between robots may also exist at any time.If the robot has a good position,it can be added to the ranking of the competing sub groups,and the robots with the lower ranking will be squeezed out of the sub groups to ensure the overall advantages of the sub groups.It can also avoid the sub group being dragged by some robots,which affects the search efficiency of the sub group.In this paper,the artificial moment method is introduced and combined with the robot search method to form a complete search and motion algorithm with the underlying collision strategy.The feasibility of this method is verified by simulation.During the operation of the method,the motion of each robot is reasonable,which shows the reliable performance of the method.