Jerene人工免疫系统的多机器人协作探测研究
为了帮助机器人跳出被锁状态，研究的目标就是用时最少、路径最短以及有效的避开障碍物。本文综合考虑机器人与免疫系统记忆库中备选点之间的距离与方向，提出了逼近法协助机器人跳出被锁状态。仿真实验表明，机器人在移动的过程中将局部信息融入地图中有效避开障碍物，并且以最优的路径到达记忆库的备选点。
毕业论文关键词:多机器人；淋巴细胞免疫；免疫记忆；逼近法；协作探索
Abstract In order to solve the problem full detection in unknown environments, based on the unique immune network hypothesis of jerne, this paper proposes an improved boundary detection algorithm based on lymphocyte mechanism。 According to the antigen information of obstacles and targets, the algorithm introduces the B cell and T cell mechanism to modify the immune network concentration model。 And immune parameters of the model are determined by considering the observation point distance and exploration direction may affect the performance of the system, is conducive to the robot team collaborative work, to avoid the conflict and interference between robots, reduce the detection of repeat coverage and path crossover phenomenon。
In order to solve the robot to help the robot to jump out of the locked state 。 The goal of the study is to use the least time, the shortest path and effective to avoid obstacles。 In this paper considering the robot and the immune system memory by choosing between distance and direction。 The approximation method to assist the robot jump out of the locking state。 Simulation experiments show that robot in moving process will be local information into map to avoid obstacles effectively, and repeated detection appear less。 The experimental results show that the exploration method to multi robot has a better teamwork ability, improve the exploration efficiency。
Keywords: multi-robots; lymphocyte immunity; immune memory; approximations; collaborative exploration
目 录
第一章 绪 论 1
1。1研究背景和意义 1
1。2国内外研究现状 1
1。3 人工免疫算法的简要概述 3
1。3。1 生物免疫定义 3
1。3。2几种典型的免疫算法 4
1。1。3 独特型免疫网络理论 4
1。4 研究内容 5
第二章 基于淋巴细胞机理免疫网络的多机器人协作探测 6
2。1 基于人工免疫系统建模 6
2。1。1 环境构建 6
2。1。2 机器人建模 7
2。2 基于人工免疫系统的探测算法 8
2。3 一种基于淋巴细胞机理的改进型边界探测算法 9
2。4 机器人之间协作的改进 10
2。5 机器人被锁情况 11
2。6算法的主要步骤 11
2。7实验分析 12
2。8 本章小结 15
第三章 基于逼近法优化多机器人协作探测 16
3。1记忆免疫细胞 16
3。2采用逼近法解决机器人被锁情况 16
3。3算法的主要步骤 18