基于信息局部共享群机器人的协同搜索方法-工程学研究-CSCIED科技核心评价数据库-手机版

基于信息局部共享群机器人的协同搜索方法

Collaborative search method based on information localized shared swarm robots

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DOI	10.12208/j.jer.20250043
刊名	工程学研究 Journal of Engineering Research
年，卷(期)	2025, 4(2)
作者	徐望宝, 于爱茹,
作者单位	辽宁科技大学电子与信息工程学院辽宁鞍山
摘要	协同搜索是机器人领域的重要研究方向，目前研究多聚焦于算法优化和全局信息共享，局部共享多面向简单环境。针对机器人在复杂未知环境且感知范围受限的协同搜索问题提出了一种基于信息局部共享群机器人的协同搜索方法。首先各机器人根据自身探测或通过局部信息共享获得的有关目标和障碍的信息确定自己的目标，由此计算吸引点，引导机器人避开障碍并靠近目标。其次，机器人跟随领导者运动时设置可视阈值，及时更新吸引点，防止领导者丢失。最后机器人动态调整目标进行任务分配与协调，提高资源利用率和搜索效率。通过仿真验证了该方法在搜索效率、任务分配和障碍规避等方面的可行性，所提方法展现出良好的鲁棒性、灵活性和适应性。
Abstract	Collaborative search is an important research direction in the field of robotics, and the current research mostly focuses on algorithm optimization and global information sharing, while local sharing is mostly oriented to simple environments. A cooperative search method for swarm robots based on local information sharing is proposed to address the cooperative search problem of robots in complex unknown environments with limited sensing range. Firstly, each robot determines its own target based on the information about the target and obstacles it detects or obtains through local information sharing, from which it calculates the attraction point and guides the robots to avoid obstacles and approach the target. Secondly, the robots set a visual threshold when following the leader's movement to update the attraction point in time to prevent the leader from being lost. Finally, the robot dynamically adjusts the target for task allocation and coordination to improve resource utilization and search efficiency. The feasibility of the method in terms of search efficiency, task allocation and obstacle avoidance is verified through simulation, and the proposed method shows good robustness, flexibility and adaptability.
关键词	协同搜索；信息局部共享；吸引点；任务分配
KeyWord	Collaborative search; Localized information sharing; Attraction point; Task allocation
基金项目
页码	14-21

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引用本文

徐望宝, 于爱茹. 基于信息局部共享群机器人的协同搜索方法 [J]. 工程学研究. 2025; 4; (2). 14 - 21.

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