群体觅食建模中生物启发行为模型参数的重新审视

Q3 Mathematics
A. Malyshev, E. Burgov
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引用次数: 5

摘要

使用仿生模型和方法是解决群体机器人任务的途径之一。本文考虑了其中的一个任务,觅食建模,以及通过创建蚂蚁社会结构和觅食行为模型的类似物来解决这个问题。定义了蚁群建模中最重要的特征——群体数量及其结构、工蚁速度、沟通距离和工作区域大小。此外,估计了现有的实验基础(一组机器人和一个多边形)作为实验的硬件平台。研究了几种摄食行为模型:一种是没有觅食者功能分化的模型,一种是主动与被动分化的模型。主动觅食者自己寻找资源,然后涉及被动觅食者;被动采集者定居在基地上,不参与收割。一组有限状态机描述了代理的行为:基本自动机(提供基本行为功能)和元自动机(在某些条件下切换基本自动机的执行)。基本动作在实验基础上进行测试。在Kvorum仿真程序中对模型进行了复杂的测试。在程序中对真实多边形进行了模拟。建模包括对每个模型进行一系列的实验,agent必须在这些实验中获取资源。各个系列的代理商数量不同。对于模型的质量估计,是接收能量与平均获取时间的比值。实验证明,函数微分模型更有效。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Revisiting Parameters of Bioinspired Behavior Models in Group Foraging Modeling
Using bioinspired models and methods is one of approaches for solving tasks of swarm robotics. In this paper one of such tasks, modeling of foraging, and it’s solving by creating analogues of social structures of ants and models of feeding behavior are considered. The most important characteristics of ants’ colonies for modeling were defined – individuals number in society and it’s structure, workers’ speed, a communication distance and working area size. Besides, existing experimental basis (a group of robots and a polygon) was estimated for a usage as a hardware platform for experiments. Several models of feeding behavior were considered: a model without foragers’ functions differentiation and a model with differentiation on active and passive ones. Active foragers look for resources by themselves, then they involve passive foragers; passive foragers are settled on a base, while are not involved in harvesting. A set of finite state machines describe the behavior of agents: basic automatons (provide basic behavior functions) and a meta- automaton, that switches with some conditions an execution of basic automatons. Basic movements were tested on experimental basis. A complex test of models were conducted in a simulation program Kvorum. An analogue of real polygon was made in the program. Modeling consists of series of experiments for every model in which agents must harvest resources. Series differ from each other by number of agents. For models’ quality estimation a ratio of received energy to average obtaining time. Experiments settle that model with functions differentiation works more effective.
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来源期刊
SPIIRAS Proceedings
SPIIRAS Proceedings Mathematics-Applied Mathematics
CiteScore
1.90
自引率
0.00%
发文量
0
审稿时长
14 weeks
期刊介绍: The SPIIRAS Proceedings journal publishes scientific, scientific-educational, scientific-popular papers relating to computer science, automation, applied mathematics, interdisciplinary research, as well as information technology, the theoretical foundations of computer science (such as mathematical and related to other scientific disciplines), information security and information protection, decision making and artificial intelligence, mathematical modeling, informatization.
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