A study of virtual pheromones in swarm robotics for anti-congestion
A relevant anti-congestion scheme was analyzed for the problem of congestion occurring during swarm robot navigation.Referring to ant colony algorithm and ant foraging behavior,a new distributed coordination algorithm based on virtual pheromone was proposed to ease congestion,and a probabilistic finite-state machine was used to coordinate robots to avoid congestion.A set of experimental system and platform for swarm robots was developed,and the algorithm was verified and analyzed by using self-developed swarm robots for physical experiments.The results showed that this algorithm enabled swarm robots to navigate more smoothly and efficiently.It provides a reference basis for application to congestion in real scenarios and has practical value.
NETL
NSTL
万方数据
维普
