摘要
首先,给出了集群机器人的定义与基本特征,概括了相对于传统多机器人控制方法的优势.然后,总结了集群机器人的主要设计与分析方法.将集群机器人研究归纳为空间组织、集群导航、集群决策以及其他集群行为等4类,综述了各类别近十年的主要研究成果.最后,分析总结了当前集群机器人研究面临的挑战与关键科学问题,并对未来发展方向进行了展望.
Firstly, the definition and basic features of swarm robotics are introduced, and the advantages over traditional multi-robot control methods are summarized. Then, the main design and analysis methods of swarm robotics are concluded.The research of swarm robotics are categorized as four aspects: spatial organization, collective navigation, collective decisionmaking and other collective behaviors. The progress and frontiers of each category in recent ten years are reviewed. Finally,the current challenges and key scientific issues in swarm robotics are clarified and analyzed, and the outlook of development trends in swarm robotics is given.
作者
王伟嘉
郑雅婷
林国政
张亮
韩战钢
WANG Weijia;ZHENG Yating;LIN Guozheng;ZHANG Liang;HAN Zhangang(School of Systems Science,Beijing Normal University,Beijing 100875,China)
出处
《机器人》
EI
CSCD
北大核心
2020年第2期232-256,共25页
Robot
基金
国家自然科学基金(61374165).
关键词
集群机器人
集群行为
集群智能
多机器人系统
协同控制
swarm robotics
collective behavior
swarm intelligence
multi-robot system
collaborative control
