On a bio-inspired hybrid pheromone signalling for efficient map exploration of multiple mobile service robots
On a bio-inspired hybrid pheromone signalling for efficient map exploration of multiple mobile service robots
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DOI：
10.1007/s10015-016-0279-4
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发表时间：
2016-05
影响因子：
0.9
通讯作者：
A. Ravankar;Ankit A. Ravankar;Yukinori Kobayashi;T. Emaru
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文献类型：
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作者：
A. Ravankar;Ankit A. Ravankar;Yukinori Kobayashi;T. Emaru
本文提出了一种新的生物启发的混合通信框架，结合了排斥行为的抗春药信息素和吸引力的行为信息素的多个移动的服务机器人的有效地图探索。建议的通信框架提出了一个计划，机器人有效地服务于大面积的地图，同时通过适当的信息素沉积相互合作。这消除了对每个服务机器人进行显式编程以服务于地图的特定区域的需要。机器人所采取的路径被表示为信息素被存放在其中的节点。这减少了用于跟踪信息素的搜索空间，并减少了机器人之间要通信的数据大小。提出了一种新的信息素沉积模型，该模型考虑了机器人位置的不确定性。这消除了机器人在定位失败时将信息素存款在错误的地方。该框架还将信息素信号机制集成在基于地标的扩展卡尔曼滤波（EKF）定位中，并允许机器人捕获地图的区域或子区域，以改善定位。提出了一种通过本地通信解决冲突的方案。我们讨论，通过实验和仿真结果，地板清洁任务，和监视任务，由多个机器人执行的两种情况。结果表明，所提出的方案，使多个服务机器人执行合作任务，智能没有任何显式的编程。
This paper presents a novel bio-inspired hybrid communication framework that incorporates the repelling behaviour of anti-aphrodisiac pheromones and attractive behaviour of pheromones for efficient map exploration of multiple mobile service robots. The proposed communication framework presents a scheme for robots to efficiently serve large areas of map, while cooperating with each other through proper pheromone deposition. This eliminates the need of explicitly programming each service robot to serve particular areas of the map. The paths taken by robots are represented as nodes across which pheromones are deposited. This reduces the search space for tracking pheromones and reduces data size to be communicated between robots. A novel pheromone deposition model is presented which takes into account the uncertainty in the robot’s position. This eliminates robots to deposit pheromones at wrong places when localization fails. The framework also integrates the pheromone signalling mechanism in landmark-based Extended Kalman Filter (EKF) localization and allows the robots to capture areas or sub-areas of the map, to improve the localization. A scheme to resolve conflicts through local communication is presented. We discuss, through experimental and simulation results, two cases of floor cleaning task, and surveillance task, performed by multiple robots. Results show that the proposed scheme enables multiple service robots to perform cooperative tasks intelligently without any explicit programming.