Swarm robotic network using Levy flight in target detection problem
Swarm robotic network using Levy flight in target detection problem
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DOI：
10.1007/s10015-016-0298-1
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发表时间：
2016-09-01
影响因子：
0.9
通讯作者：
Watakabe, Ryosuke
中科院分区：
文献类型：
--
作者：
Katada, Yoshiaki;Nishiguchi, Akihiro;Watakabe, Ryosuke
群机器人的一种方法是同构系统，其中嵌入了传感，计算，移动的和通信组件。在这项研究中，目标检测问题，这是导航问题之一，被采用。一旦机器人检测到目标，由于无线通信的多跳传输，机器人立即通过中间中继机器人与基站通信。因此，该控制任务通过网络的连通性来完成。在目标检测问题中，我们必须提高探测性能以及网络的连通性。本研究探讨了两种类型的随机游走算法在导航的性能，同时松散地确保连接的机器人网络的基础上，我们以前的研究。
One approach in swarm robotics is homogeneous system which is embedded with sensing, computing, mobile and communication components. In this study, a target detection problem, which is one of navigation problems, was employed. Once a robot detects a target, robots immediately communicate with a base station via intermediate relay robots due to the multi-hop transmission of wireless communication. Therefore, this control task is completed with connectivity of the network. In a target detection problem, we must improve the performance of exploration as well as connectivity of the network. This study investigates the performances of the two types of random walk algorithm in navigation while loosely ensuring connectivity of the robotic network based on our previous study.