未知环境下一种群机器人盲目探索算法OA

When swarm robots are blindly exploring unknown environments,they can only plan the direction of swarm robots through the communication between robots.Based on the blind exploration strategy based on the edge points of the map,aiming at the defect that Simplified Virtual-Force Model(SVF)does not pay enough attention to the relative position of robot,Opposite Sim-plified Virtual-Force Model(OSVF)based on map edge points is proposed.In OSVF,the positions of each robot crowd in each iter-ation are projected onto the diagonal of the map,and then the repulsive forces between the projections and the forces at the edge of the map are calculated.Then,the OSVF is combined with the obstacle avoidance strategy based on the desired speed direction to complete the blind exploration task in the unknown environment.By using the same parameters in the simulation environment,the direction allocation effect of OSVF and SVF under different obstacle avoidance strategies is tested,Experimental results show that with the same number of robots,the path length of the proposed algorithm is increased by 1.91%～5.78%compared with other algo-rithms,and the standard deviation of the relative distance of each iteration is reduced by 31.32%～62.88%.