Robotics Simulator for Development and Verification of Swarm Behaviors

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI:10.1115/detc2019-97622

Shae T. Hart, Nathan J. Metzger, Maximilian E. Reese, Robert T. Mcdonald, M. Neumann, C. Kitts

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引用次数: 2

Abstract

Swarm control strategies allow for decentralized control of many simple robots to perform collective behaviors based on local interactions. We have created a new platform for developing and exploring swarm behaviors, supporting both simulation and experimental verification. The platform, designed entirely in Simulink, provides a simple implementation with satisfactory dynamics to replicate experimental trials on Santa Clara University’s Robotic Systems Laboratory’s Low-Cost Indoor Testbed. The platform allows for seamless transitions from simulation to experimentation on the testbed. The platform is currently equipped with attract, disperse, obstacle avoidance, and go-to behaviors which have been verified both in simulation and on the experimental testbed. Additionally, a composite behavior, flocking, composed of attract and go-to behaviors is presented to demonstrate the flexibility of the simulator. Future work will expand the available behaviors to include swarm adaptive navigation behavior primitives like minima and maxima finding as well as contour and ridge following.

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用于开发和验证群体行为的机器人模拟器

群控制策略允许对许多简单的机器人进行分散控制，以基于局部交互执行集体行为。我们已经创建了一个开发和探索群体行为的新平台，支持模拟和实验验证。该平台完全在Simulink中设计，提供了一个简单的实现，具有令人满意的动力学，可以在圣克拉拉大学机器人系统实验室的低成本室内试验台上复制实验试验。该平台可以实现从模拟到试验台实验的无缝过渡。该平台目前具有吸引、分散、避障和go-to行为，并已在仿真和实验测试台上得到验证。此外，还提出了一种由吸引行为和走到行为组成的复合行为——群集，以证明模拟器的灵活性。未来的工作将扩展可用的行为，包括群体自适应导航行为原语，如最小值和最大值的发现，以及轮廓和山脊跟踪。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Volume 5A: 43rd Mechanisms and Robotics Conference

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