Swarm Robot Foraging with Wireless Sensor Motes
Swarm Robot Foraging with Wireless Sensor Motes
复制标题
使用无线传感器微粒进行觅食的群体机器人
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
S. Luke
中科院分区：
文献类型：
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作者：
Katherine Russell;Michael Schader;Kevin Andrea;S. Luke
我们研究了在觅食方案中使用无线传感器MOT作为群体机器人导航的移动可部署航路点的使用。每个机器人都可以部署，检索和优化传感器MOTE的位置。部署后，机器人将传感器MOT视为稀疏图中的节点，并在它们中本地存储和检索多个信息素和标志。传感器MOTES中存储的信息素信息可以使机器人建立到感兴趣的不同目标的梯度，并确定哪些传感器MOT是优化位置的好候选者，或者可以收获在其他地方进行重复使用。与许多较早的信息素基于觅食技术不同，我们的方法必须处理部署和操纵传感器的物理现实，包括船上和总共有限的MOTE供应，可与其他机器人的闭合和干扰以及处理噪音和机器人的处理或Mote失败。我们证明了这项技术在我们自己设计的差速器机器人以及模拟中的有效性，以研究其可靠地处理各种故障模式和环境变化的能力。
We investigate the use of wireless sensor motes as mobile deployable waypoints for swarm robot navigation in a foraging scenario. Each robot can deploy, retrieve, and optimize the location of the sensor motes. After deployment, the robots treat the sensor motes as nodes in a sparse graph, and store and retrieve multiple pheromones and flags locally in each of them. Pheromone information stored in the sensor motes allows the robots to build up gradients to different targets of interest, and to determine which sensor motes are good candidates to optimize location, or to harvest for reuse elsewhere. Unlike many earlier pheromone-based foraging techniques, our method must deal with the physical reality of deploying and manipulating sensor motes, including a limited mote supply both onboard and in total, robustly dealing with occlusion and interference from other robots, and handling noise and robot or mote failure. We demonstrate the effectiveness of the technique both on differential drive robots of our own design, and in simulation, to examine its ability to robustly deal with various failure modes and changes in environment.