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群体搭建任务研究一群机器人如何以分散控制的方式并行搭建出具有几何形状的砖块结构.相对于群机器人学中的其他任务,群体搭建研究特别注重搭建过程的时空协调.作为一种以环境为媒介进行间接交互的时空协调机制,Stigmergy被认为更具一般性与通用性.传统方法通过同时感知多邻域信息或利用结构对称性来制定复杂规则,但其并不十分适用于非模块结构以及序列结构.本文针对此类结构提出了基于个体评估能力的Stigmergic群体搭建时空协调机制,该协调机制可通过赋予个体感知环境、评估系统当前状态的能力来简化对搭建规则的依赖,即个体利用简单搭建规则即可完成群体搭建任务,实现群体搭建过程时空的协调.仿真实验结果表明提出的机制是可行且有效的.
The task of group building is to study how a group of robots can construct a brick structure with geometric shapes in parallel by decentralized control.Compared with other tasks in group robotics, group building research pays special attention to the coordination of space-time in the building process.As an example, Media, the Stigmergy is considered to be more general and universal.Traditional methods develop complex rules by simultaneously sensing multiple neighborhood information or using structural symmetry, but it is not very suitable for non-modular structures and Sequence structure.This paper proposed a Stigmergic group based on individual assessment ability to build a space-time coordination mechanism, which can simplify the dependence on the building rules by giving individuals the ability to sense the environment and assess the current state of the system, that is, the individual is easy to use Set up rules to complete the task of group building, to achieve space-time coordination of group building process.The simulation results show that the proposed mechanism is feasible and effective.