Modeling and Simulation Analysis of Energy Self-sustainment Behavior Decision in Robot Ecosphere

The robot ecosphere inspired by the natural ecosystem has the ability of self-replication, self-sustainment and self-evolution. In this paper, an energy self-sustaining behavior decision method based on behavior tree is proposed to meet the energy self-sustaining needs of robot ecosphere. The behavior decision method describes the robot's behavior decision by using the behavior tree tool, and can quickly build the energy self-sustaining behavior decision model according to the demand. In order to verify the effectiveness of the behavior decision method, a simulation scenario based on CoppeliaSim was built, and the behavior decision model of robot energy self-sustainment based on behavior tree is tested. The experimental results show that this method has strong reactivity and can be used for energy self-maintenance of unattended robots.