在动态环境中,引导牲畜远离危险
Stef Van Havermaet1, Pieter Simoens1, Tim Landgraf2
1Department of Information Technology, University of Ghent-imec, Technologiepark 126, 9052 Ghent, Belgium.
Royal Society open science
|May 26, 2023
概括
这项研究介绍了一种分散的多机器人系统,用于牧羊. 机器人通过检测和避免危险,成功地引导群体进入安全,确保团结的群体运动.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 集体行为 集体行为
背景情况:
- 牧羊对于畜牧,人群控制和安全至关重要.
- 现有的单机器人和集中式多机器人解决方案在不受约束的环境和危险检测方面存在局限性.
研究的目的:
- 开发和评估一个分散的控制算法,用于多机器人牧羊.
- 为了使机器人能够在引导群体时检测和响应环境危险.
主要方法:
- 一个去中心化的控制算法,使用子模式来检测危险.
- 模拟不同集体运动模型的机器人群群牧羊群.
- 在动态场景中进行测试,包括避免危险的补丁和在安全的外内进行封闭.
主要成果:
- 在动态场景中,去中心化的算法成功地将群体引导到安全的地方.
- 成功取决于群体凝聚力和足够的机器人部署.
- 牢模式有效地检测并促进对附近危险的反应.
结论:
- 分散的多机器人牧羊是可行的和有效的.
- 拟议的算法为复杂的牧养任务提供了强大的解决方案.
- 群体凝聚力和足够的机器人数量对于成功的牧羊结果至关重要.
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