Multitarget Search Algorithm Using Swarm Robots in an Unknown 3D Mountain Environment

摘要

A multitarget search algorithm for swarm robot in an unknown 3D mountain environment is proposed. Most existing 3D environment obstacle avoidance algorithms are potential field methods, which need to consider the location information of all obstacles around the robot, and they easily fall into local optima, and their calculation is complex. Furthermore, they cannot well meet the requirements of real-time obstacle avoidance characteristics of swarm robots in multiobject searches. This paper first focuses on solving the obstacle avoidance problem of swarm robots in mountain environments. A new 3D curved obstacle tracking algorithm (3D-COTA) is designed by discretizing the mountains within the detection range of robot obstacles. Then, a task assignment model and virtual force model in 2D space are extended to 3D, and a particle swarm search model with kinematic constraints is constructed, which considers the kinematic constraints and the limitations of the communication ability of the robots. Finally, a new multitarget search algorithm for swarm robot in an unknown 3D mountain environment is proposed by means of the designed 3D surface obstacle tracking algorithm. Numerical simulation results demonstrate the effectiveness of the proposed algorithm.