群机器人系统的建模和仿真.pdfVIP

第22 卷第6 期 系 统 仿 真 学 报© Vol. 22 No. 6 2010 年6 月 Journal of System Simulation Jun., 2010 群机器人系统的建模与仿真 曾建潮, 薛颂东 （太原科技大学复杂系统与计算智能实验室，太原 030024 ） 摘 要：围绕群机器人学的起源与发展，针对群机器人系统与其他多机器人系统的区分准则及系统 级功能特征，讨论个体机器人的交互、通信、协调控制机制和自组织、模式形成等群机器人研究中 的主要问题，洞悉群机器人的研究概貌和既有研究成果，明确其研究方向。通过回顾概括群机器人 系统的主要建模与仿真方法，以个体之间及个体与环境之间的局部交互机制为前提，使感知能力 有限的个体机器人在协调控制算法作用下涌现群体智能完成规定的复杂任务，突出群机器人规模可 伸缩的系统特征。 关键词：群机器人；群体智能；有限感知；局部交互；协调控制；建模 中图分类号：TP242.6 文献标识码：A 文章编号：1004-731X (2010) 06-1327-04 Modeling and Simulation Approaches to Swarm Robotic Systems ZENG Jian-chao, XUE Song-dong (Complex System and Computational Intelligence Laboratory, Taiyuan University of Science and Technology, Taiyuan 030024, China) Abstract: Concentrating on the desirable properties of swarm robotic systems, some key problems in swarm robotics such as limited sense, local interaction, communication among individuals and with environment, cooperation control and self-organization as well as pattern formation were discussed for the sake of getting an insight into sources and development of swarm robotics and understanding the criteria used to distinguish swarm robotics research from other multi-robot studies. To discern the research emphasis on swarm robotics, the disciplinary profile and existing research findings were described. Then, the main modeling and simulation methods of swarm robotics were summarized . Finally, this survey shows that large numbers of relatively simple robots with limited sense capabilities and local interaction mechanism may emerge swarm