To flock or not to flock: the pros and cons of flocking in long-range "migration" of mobile robot swarms
To flock or not to flock: the pros and cons of flocking in long-range "migration" of mobile robot swarms
复制标题
集群还是不集群：移动机器人群远距离“迁移”中集群的利与弊
DOI：
10.1145/1558013.1558021
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
E. Sahin
中科院分区：
文献类型：
--
作者：
Fatih Gökçe;E. Sahin
本研究探讨在不同因素影响下，群集于移动的机器人群远距离“迁徙”的利弊。我们提出了一个群集行为由三个简单的行为：航向对齐，近端控制，并对齐所需的归航方向。这种行为通过感知地球的磁场来驱使一群机器人从一个地方到另一个地方。我们提出了四个因素的影响，达到一个特定的位置与建议的行为的准确性，即，平均通过航向对准行为，在感测归航方向的噪声，在个人的特性的差异，和近端控制行为所造成的干扰。在一系列系统的实验进行了物理和模拟机器人，我们评估这些因素的影响，在长距离的“迁移”的羊群的准确性。
This study investigates the pros and cons of flocking in long-range "migration" of mobile robot swarms under the influence of different factors. We present a flocking behavior consisting of three simple behaviors: heading alignment, proximal control, and alignment to the desired homing direction. The behavior drives a flock of robots from one location to another by sensing the magnetic field of the Earth. We propose that four factors influence the accuracy of reaching a particular location with the proposed behavior; namely, averaging through the heading alignment behavior, the noise in sensing the homing direction, the differences in the characteristics of the individuals, and the disturbances caused by proximal control behavior. In a series of systematic experiments conducted with both physical and simulated robots, we evaluate the effects of these factors in the accuracy of long-range "migrations" of flocks.