一种面向异质多移动机器人的改进猫群算法
An Improved Cat Swarm Optimization for Heterogeneous Multiple Mobile Robots
康亮 1杜奕 2尹丽华1
作者信息
- 1. 上海第二工业大学工程训练与创新教育中心,上海 201209
- 2. 上海第二工业大学计算机与信息工程学院,上海 201209
- 折叠
摘要
目前的多移动机器人群组很难做到成员的真正同质,现有的群智能算法也很难包容团队的异质性.关注多移动机器人的异质性协同,提出母子机器人概念.为实现群智能算法在异质多移动机器人中的应用,改进了基本的猫群算法.定义了猫群的子域和邻域,提出了搜索方向的优先级、机器人的扩展轨迹跟踪、搜索空间的吸引力和候选搜索区域等8个方面的猫群算法改进.实验结果表明:母子机器人概念可以实现异质多移动机器人的目标搜索,可以包容团队成员的异质性,验证了改进猫群算法的适用性和有效性.
Abstract
At present,it is difficult to achieve the real homogeneity of the members of the multiple mobile robots.The existing swarm intelligence algorithm is also difficult to accommodate the heterogeneity of the team.Focusing on the heterogeneous cooperation of multiple mobile robots,the concept of mother and child robots is proposed.In order to realize the application of swarm intelligence algorithm in heterogeneous multiple mobile robots,the basic cat swarm algorithm is improved.The sub-domain and neighborhood of cat swarm are defined,and eight improvements of cat swarm algorithm are proposed,including priority of search direction,extended trajectory tracking of robot,attraction of search space and candidate search area.The experimental results show that the concept of mother-child robot can realize the target search of heterogeneous multiple mobile robots,and can contain the heterogeneity of team members and verify the applicability and effectiveness of the improved cat swarm algorithm.
关键词
多移动机器人/猫群算法/异质/子域/搜索方向Key words
multiple mobile robots/cat swarm optimization/heterogeneous/sub-domain/search direction引用本文复制引用
基金项目
教育部科技发展中心中国高校产学研创新基金(2021ZYA03008)
出版年
2024
NETL
NSTL
万方数据