인문학
사회과학
자연과학
공학
의약학
농수해양학
예술체육학
복합학
DBpia AI
AI 에이전트
AI 아이디어
AI 리더
AI 뷰어
Citeasy
크롬 서지관리 다운로드
지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
초록·키워드
Abstract Target search using a swarm of robots is a classic research topic that poses challenges, particularly in conducting multi-target searching in unknown environments. Key challenges include high communication cost among robots, unknown positions of obstacles, and the presence of multiple targets. To address these challenges, we propose a novel R obotic F low D irection A lgorithm (RFDA), building upon the modified Flow Direction Algorithm (FDA) to suit the characteristics of the robot’s motion. RFDA efficiently reduces the communication cost and navigates around unknown obstacles. The algorithm also accounts for scenarios involving isolated robots. The pipeline of the proposed RFDA method is outlined as follows: (1). Learning strategy : a neighborhood information based learning strategy is adopted to enhance the FDA’s position update formula. This allows swarm robots to systematically locate the target (the lowest height) in a stepwise manner. (2). Adaptive inertia weighting : An adaptive inertia weighting mechanism is employed to maintain diversity among robots during the search and avoid premature convergence. (3). Sink-filling process : The algorithm simulates the sink-filling process and moving to the aspect slope to escape from local optima. (4). Isolated robot scenario : The case of an isolated robot (a robot without neighbors) is considered. Global optimal information is only required when the robot is isolated or undergoing the sink-filling process, thereby reducing communication costs. We not only demonstrate the probabilistic completeness of RFDA but also validate its effectiveness by comparing it with six other competing algorithms in a simulated environment. Experiments cover various aspects such as target number, population size, and environment size. Our findings indicate that RFDA outperforms other methods in terms of the number of required iterations and the full success rate. The Friedman and Wilcoxon tests further demonstrate the superiority of RFDA.
인공지능 문자 인식 모델을 통해 추출된 텍스트로, 일부 오타나 오류가 포함될 수 있으나 지속적으로 개선 중입니다.
오류를 발견하셨다면 해당 부분을 드래그한 후 ' 를 통해 신고해주세요.
오류를 발견하셨다면 해당 부분을 드래그한 후 ' 를 통해 신고해주세요.
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