Evolving collective step-climbing behavior in multi-legged robotic swarm
Evolving collective step-climbing behavior in multi-legged robotic swarm
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DOI：
10.1007/s10015-021-00725-8
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发表时间：
2022-01
影响因子：
0.9
通讯作者：
D. Morimoto;Motoaki Hiraga;Naoya Shiozaki;K. Ohkura;M. Munetomo
中科院分区：
文献类型：
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作者：
D. Morimoto;Motoaki Hiraga;Naoya Shiozaki;K. Ohkura;M. Munetomo
本文主要研究了多足机器人群体集体爬步行为的生成。大多数关于群体机器人的研究都是使用装有轮子的移动机器人在平坦的环境中发展集体行为。然而，这些类型的机器人只能表现出相对简单的行为，这限制了机器人群可以处理的任务。本文研究的是一种攀登任务，即一个机器人群体爬上一个单一机器人无法爬到的台阶。机器人必须使用其他机器人作为立足点才能完成任务。为了产生这样的三维行为，使用受蚂蚁启发的多腿机器人进行了机器人群。机器人控制器是通过神经进化方法和人工设计方法相结合得到的。计算机仿真结果表明，所设计的控制器成功地完成了爬步任务。
This paper focuses on generating the collective step-climbing behavior of a multi-legged robotic swarm. Most studies on swarm robotics develop collective behaviors in a flat environment using mobile robots equipped with wheels. However, these types of robots could only show relatively simple behavior, which limits a task that could be addressed by a robotic swarm. This paper deals with a step-climbing task, in which a robotic swarm climbs a step that is too high for a single robot. The robots have to use other robots as a foothold to achieve the task. To generate such three-dimensional behavior, a robotic swarm is conducted using the multi-legged robot inspired by ants. The robot controller is obtained by the combination of the neuroevolution approach with manual designed methods. The results of the computer simulations show that the designed controller successfully achieve the step-climbing task.