空地共融群体机器人目标搜索及“共识主动性”协调方法研究

Compared to a single but advanced robot, a robot swarm composed by simple individuals may accomplish some tasks more efficiently under reasonable coordination, thus it has broad application prospects. This project aims at the key common issue of finding the target accurately and coordinating efficiently during the swarm robots cooperative operations. Taking the space crafts and ground mobile robots joint group as the research platform and breakthrough, based on interdisciplinary help from multibody dynamics and the stigmergy mechanism inspired from biological communities, it investigates the solutions for solving the mentioned issue. Originated on the basic particle swarm algorithm, it establishes correspondences between a single particle and a single robot, and designs a compatible distributed search strategy for the robot motions. All these make the success of achieving three-dimensional search and improving search coverage. The tracking accuracy to the search trajectory is expected to be improved based on the construction of the extended mechanical particle swarm. It performs a depth investigation of the specific reasons for efficient coordination among groups of organisms. A physical actuation mapping from the stigmergy-based communication mechanism to the robots coordination has been detailed. It realizes the mutual learning and influencing via the media of environment, which avoids the demands of compatible interfaces or homogeneous robots for the swarm. Therefore, it achieves the purpose of space-ground communioned search and coordination. The methods and strategies will be verified by experiments. With this research, it is hopeful that it can provide some supports both theoretically and technically for partially solving the issue of blockade on techniques of single advanced robots, and for employing real swarm robots practically.

相比单个先进机器人，由简单个体组成的机器人群体在合理协调下能更有效地完成一些任务，具有广阔的应用前景。本项目针对群体机器人联合作业中迫切需要解决的目标精准搜索和群体高效协调关键共性基础问题，以空中飞行器—地面移动机器人群体为突破口，基于多体动力学学科交叉和生物群体近乎无为而治的“共识主动性”协调机理，探索解决方法。以原始微粒群算法为搜索方法载体，建立粒子与机器人单一对应，设计2D-3D兼容的分布式搜索运动策略，实现立体搜索提高覆盖面；基于多体动力学建立拓展的机械微粒群，提高搜索轨迹跟踪精度；深入分析生物群高效协调的特定原因，具体建立基于共识主动性的交流机制到机器人协调的物理驱动映射，实现个体间经由环境这一媒介互相学习和影响，避免直接交流带来的接口或同构要求，达到共融搜索与协调；通过实验进行验证。本研究期望为部分解决单个先进机器人的国外技术封锁问题，并为群体机器人走向实用提供理论基础和技术支持。

本项目面向群体机器人联合作业（如救援、检测、搬运等）过程中迫切需要解决的目标精准搜索和群体高效协调关键共性基础问题展开了深入研究。以空间飞行器—地面移动机器人群体为研究平台，建立了目标——极值模型，并创成了基于2D-3D兼容的分布式微粒群算法，着重探索研究了群体机器人对信号目标的空地立体化搜索，提高了搜索的覆盖面，实现了空-地机器人功能互补。研究了基于多体动力学将实体机器人的机械物理属性引入到搜索算法本身以减轻控制负担，提高了搜索轨迹的跟踪精度。此外，深入分析了生物群体非直接交流的高效协调机制，并具体建立了基于共识主动性的交流机制，以及该机制到群体机器人之间协调的物理驱动映射，实现了个体间经由环境这一媒介互相学习和影响的方法，避免了直接交流带来的接口或同构要求，达到了共融搜索与协调，并具有较好的容错能力。最后，设计了大量实验，并完成了对所有本项目中涉及的方法、算法的验证。通过本研究的研究，为群体机器人走向实用提供了一些理论基础和技术支持。