基于热运动等效方法的机器人集群编队组织
Formations organization in robotic swarm using the thermal motion equivalent method
AI总结：
本文提出一种基于热运动等效方法演进的群体机器人编队控制方法，通过设计分段线性非线性交互函数实现稳定几何结构编队，并以线性四旋翼模型数值仿真验证了方法的有效性。
摘要：
由于其去中心化、分布式和可扩展的特性，群体机器人在从农业到环境监测和物流等应用中具有巨大潜力。目前已知多种群体控制方法和算法，例如虚拟领导者、向量场和势场等。这些方法通常在特定条件和任务下表现出良好效果。群体所解决任务的多样性要求开发一种通用的控制算法。本文提出了一种热运动等效方法（TMEM）的演进版本，其灵感来自分子间热力学相互作用的行为相似性。先前的研究已表明该方法在地形监测任务中具有高效率。本工作针对物流和编队移动任务所需的几何结构群体编队问题。研究表明，利用TMEM形成群体几何结构可以通过智能体之间特殊的非线性交互函数实现。提出了一种分段线性交互函数，能够形成稳定的智能体群体。本文结果通过对群体动力学的数值建模进行验证。采用线性四旋翼模型作为智能体。论证了所选交互函数的合理性。
英文摘要：
Due to its decentralised, distributed and scalable nature, swarm robotics has great potential for applications ranging from agriculture to environmental monitoring and logistics. Various swarm control methods and algorithms are currently known, such as virtual leader, vector and potential field, and others. Such methods often show good results in specific conditions and tasks. The variety of tasks solved by the swarm requires the development of a universal control algorithm. In this paper, we propose an evolution of a thermal motion equivalent method (TMEM) inspired by the behavioural similarity of thermodynamic interactions between molecules. Previous research has shown the high efficiency of such a method for terrain monitoring tasks. This work addresses the problem of swarm formation of geometric structures, as required for logistics and formation movement tasks. It is shown that the formation of swarm geometric structures using the TMEM is possible with a special nonlinear interaction function of the agents. A piecewise linear interaction function is proposed that allows the formation of a stable group of agents. The results of the paper are validated by numerical modelling of the swarm dynamics. A linear quadrocopter model is considered as an agent. The fairness of the choice of the interaction function is shown.
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