使用仅轴承测量的群体牧养
Aiyi Li1, Masaki Ogura1,2, Naoki Wakamiya1
1Department of Bioinformatic Engineering, Graduate School of Information Science and Technology, Osaka University, Suita, Osaka 565-0871, Japan.
概括
这项研究表明,只使用轴承测量,而不是精确传感,群牧是可能的. 这种方法需要最小的信息,以便在机器人和生物学中有效地引导群体.
科学领域:
- 机器人和生物系统
- 群集情报 群集情报 群集情报
- 控制理论 控制理论
背景情况:
- 牧羊是一种群体指导方法,其灵感来源于自然的牧羊行为.
- 现有的牧羊研究往往假定方向代理的精确传感能力,这在现实应用中可能是不可行的.
- 由于传感的局限性,理论牧养模型与实际实施之间存在差距.
研究的目的:
- 为了证明群体牧养的可行性,只使用轴承测量.
- 探索成功牧养的最低信息要求.
- 为单个和多个代理开发和验证单个和多个代理的单轴牧养算法,包括多群群牧养.
主要方法:
- 为单个代理制定一个单轴承牧羊算法.
- 将算法扩展到多个代理和多个群群策略.
- 数字模拟用于在各种初始条件和配置下评估算法的有效性.
主要成果:
- 成功的群体牧养表明只使用轴承测量.
- 确定最低信息要求:适度的角度精度和有限的代理间通信.
- 通过模拟,通过各种场景验证算法的有效性.
结论:
- 通过简化传感 (仅用于轴承测量) 可以实现群体牧羊,弥合理论和实践之间的差距.
- 拟议的算法提供了对控制群体动态的基本信息的洞察力.
- 潜在的应用包括农业,搜索和救援,以及利用群体系统的其他领域.
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