Research On Swarm Intelligence Theory And Its Application In Multi-Robot System

Swarm Intelligence(SI),which is inspired by the cooperation of social animals,means the unpredictable macroscopical intelligence behavior emerges from the interaction of simple individuals.The individuals only have the capability of local perception.SI provides the new idea to find the solutions of complex problems without center controller and global information.It is helpful to understanding the internal mechanism of SI system,and to apply SI into different fields through researching the behavior of social animals.The aim of this thesis is to research the theoretic problems on Swarm Intelligence,and to provide the general approaches on analyzing the stability and complexity of the behaviors or algorithms in SI system.And then,the results obtained here are applied to multi-robot system.So the coordination and cooperation of multi-robots are implemented.Firstly,the stability of self-aggregation of SI system in complex and dynamics environment is proved by the individual model.The stability of self-aggregation means that the individual can move coherently to the target and can stay in finite neighbor field of the target finally.The interaction of individuals is transformed into potential force.So the individual model of aggregation is built by considering the sensing capability of the individual,noise in and dynamics of environment.And then the stability of self-aggregation is proved by Lyapunov stability theory.The analysis mentioned above makes the research on SI more factual.Secondly,the stability of annular structure in SI system is proved.The annular structure in social animals exhibits high cooperation.The spatial relationship in annular structure seems similar to that in aggregation mentioned above.So the object model in annular sorting can be built by increasing the interaction between different types of objects.And the stability of building annular structure is given by Lyapunov stability theory.Thirdly,the Self-organization of swarm model is researched.In macroscopical perspective,in order to build the swarm model of the system,the interactions between individuals and the environment need to be analyzed,and the rules of individual behavior should to be considered.In addition,the swarm and the environment can be considered to be an open system.From the point of view of Dissipation Structure Theory,the swarm model of SI system in macroscopical status can be described by the differential equations.The characters of stationary solution of the equations are obtained by analyzing the solutions and numerical results the equations,and Monte Carlo simulation.So the multistability,emergent patterns and bifurcation in Self-organization systems are also obtained.Finally,the models and their analysis are applied into robotic systems.So the coordination and cooperation of multiple robots are implemented in the background of formation control and foraging task.The aim of researching on SI theory is to apply it into factual system.There is something consistent between the formation control of multiple robots and aggregations mentioned above.The balance between the attractive and repellent force can satisfy the formation restriction.And the obstacles in formation can be represented by the potential field which is contrary to the target.So the formation control is implemented by combine the dynamic equation and the aggregation model.In addition,in order to improve the performance of foraging behavior in multiple robots system,the patterns of interaction are considered by the results analyzed in each model. Through adding different type of pheromone which can react with each other,the performance the system increases and the conflicts between the robots decrease efficiently.