Multi-robot Cooperative Search Method Based on Biological Heuristic Algorithm
Fan Yang, Sheng Li, Chen Chen · 2021 China Automation Congress (CAC) · 2021
The multi-robot search problem is one of the key issues in the research of multi-robot systems. In order to find the target effectively, an improved multi-robot collaborative search method based on Beetle Antennae search (BAS) algorithm is proposed. First, the left and right whiskers in Beetle Antennae search algorithm can correspond to the two robots one by one. According to this feature, the position of this group of robots is continuously updated according to the algorithm, and finally the target search task is completed. On this basis, considering the cooperation between multiple groups of robots, the collaborative method of particle swarm optimization (PSO) algorithm is introduced, and a multi-robot collaborative search method based on the improved beetle algorithm is proposed. Simulation shows that the improved algorithm can be effectively completed for static targets Target search task, and the target search success rate is significantly better than particle swarm optimization algorithm when the number of robots is small.