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为了解决多机器人系统分布式控制问题,借鉴人体内分泌系统研究的理论成果,提出基于晶格的人工内分泌系统模型.该模型以环境晶格化为基础,以细胞智能化为依托,以累加激素为纽带,以靶细胞为导向,能够适应外环境的持续变化,保持内环境的相对稳定,充分体现人体内分泌系统的自组织和自修复特性.实验结果表明,无需复杂的集中控制策略,基于该人工内分泌系统模型的多机器人系统能够在未知或危险环境中执行搜索和捕获多目标的任务.
In order to solve the problem of distributed control of multi-robot systems, the model of artificial endocrine system based on lattice theory is proposed based on the theoretical results of human endocrine system research.The model is based on the environment crystal lattice and relies on the cell intelligence, Based on the target cells, the target cells can adapt to the continuous changes of the external environment, maintain the relative stability of the internal environment and fully reflect the self-organization and self-healing properties of the human endocrine system. The experimental results show that without the need for complicated centralized control strategies, The multi-robot system of the endocrine system model performs tasks of searching and capturing multiple targets in an unknown or hazardous environment.