tailieunhanh - Swarm Robotics, From Biology to Robotics Part 9

Tham khảo tài liệu 'swarm robotics, from biology to robotics part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Key Aspects of PSO-Type Swarm Robotic Search Signals Fusion and Path Planning 73 Target Fig. 9. Schematic of Virtual Force Acted on Robot with Proximity Sensor Readings Decide Virtual Force. With the modified sensor-based APF model we can construct a potential field and get the virtual force in this field. The specific way is to take the expected position of robot at time step as the current temporary target which will attract the robot while the robot will be repelled by the detected static or dynamic obstacles. Compute the Real Positions. As the velocity of robot at time t 1 is gotten the position of robot at time t 1 can be computationally obtained according to the kinematics of robot. A full distributed PSO-type algorithm for target search is developed which can be implemented on each robot in parallel. Without loss of generality we can describe the algorithm run on robot Ri as Algorithm 2. 5. Simulation and Discussions To elaborate how to fuse the specific heterogeneous signals and how to decide the best positions the simulations are designed and conducted for the purpose. First virtual signal generators are arranged where same as target situates emitting signals following their own time characteristic. Then a series of detection points are set in signal Area 1-6. Our task is to investigate what happened in each information sink robot when different combination of signals is emitted from source by virtually measuring and fusing. We observe for sufficient long time until all eight encodes transmitted from source. Then we try to find the relationship between distance and fusion result. Signals Generating Consider the properties of a given Poisson process with intensity A. The successive coming time of events obey exponential distribution with mean A. We can empirically set the value in some interval for example the upper bound and lower bound can set to and respectively . Ac while the intensity of RF signals can be Arf .