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Method of Swarm Aggregation and Control for Intelligent RobotBased on Three-dimensional Gene Regulatory Network(PDF)


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Method of Swarm Aggregation and Control for Intelligent RobotBased on Three-dimensional Gene Regulatory Network
Fan Zhun12Ma Peili12Zhu Guijie12Xie Minchong1Chen Tianshan1Xie Fei1Shi Ze12Bao Weidong3Zhu Xiaomin3
(1.College of Engineering,Shantou University,Shantou 515063,China)(2.Key Lab of Digital Signal and Image Processing of Guangdong Province,Shantou University,Shantou 515063,China)(3.College of Systems Engineering,National University of Defense Technology,Changsha 410073,China)
intelligent swarm robotsgene regulatory networkthree-dimensional spaceswarm aggregation morphologydistributed trapping
To address the problem that the traditional gene regulatory network(GRN)model could not generate suitable swarm aggregation morphology patterns in three-dimensional space,an aggregation and control method of swarm intelligent robot based on 3D GRN is proposed. Then,the performance of the method is tested in three-dimensional complex scenes in entrapping task. Furthermore,the V-rep platform is used to simulate real scenarios and verify the efficacy of the model when the environment is added to the physics engine. Simulation results show that the proposed method has good performance and is robust under complex scenarios.


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Last Update: 2022-03-15