Foraging behavior of interacting robots with virtual pheromone
Foraging behavior of interacting robots with virtual pheromone
复制标题
DOI：
10.1109/iros.2004.1389878
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
K. Sugawara;T. Kazama;Toshinori Watanabe
中科院分区：
文献类型：
--
作者：
K. Sugawara;T. Kazama;Toshinori Watanabe
在多机器人系统中，有效的协同工作离不开通信。在该系统中，光、声、无线电波等物理方式的直接通信是相当普遍的。但在生物系统中，特别是在昆虫世界中，不仅可以观察到物理的通讯方式，而且可以观察到化学的通讯方式。由于化学方法具有一些独特的性质，将这种方法应用于协作多机器人系统是具有挑战性的。不幸的是，由于一些技术困难，目前要为机器人处理真实的化学材料并不容易。在本文中，我们提出了虚拟信息素系统，它用投影在地板上的图形来模拟化学信号，机器人根据图形的颜色信息来决定自己的行动。我们通过觅食任务考察了该系统的性能，觅食任务是多机器人系统中最受欢迎的任务之一，在蚂蚁社会中普遍被观察到。
In multi-robot system, communication is indispensable for effective cooperative working. In this system, direct communication by physical methods such as light, sound, radio wave is quite general. But in biological system, especially in the insect world, not only the physical but also the chemical communication methods can be observed. As the chemical methods have some unique properties, it is challenging to apply such a method to the cooperative multi-robot system. Unfortunately, to treat real chemical materials for the robots is not easy for now because of some technical difficulties. In this paper, we propose virtual pheromone system in which chemical signals are simulated with the graphics projected on the floor, and in which the robots decide their action depending on the color information of the graphics. We examined the performance of this system through the foraging task, which is one of the most popular tasks for multi-robot system and is generally observed in ant societies.