Research On The Conflict Resolution Of Swarm Robots In Narrow Passages

Compared with a single robot,robots which are in swarm-robot system can collaborate,share information and complement with each other and they are more adaptable to complex environments and situations.Therefore,the swarm robot system has a wide range of applications.The problem of path planning for swarm-robot system requires that each robot accurately reach its target point.Because each robot might have a danger of colliding with obstacles and other robots during its movement.Therefore,it is also an important task for robots to avoid this situation.In the process of group robot path planning,the problems might happen frequently that robots enter some narrow channels.When multiple robots meet in the narrow passage,there is a conflict between robots.If the conflict of robots cannot be resolved smoothly,it will not only affect the quality of the solution but may also result in some robots having difficulty reaching their targets.So,aiming at this problem,a deep research has been made and a series of effective methods combined with artificial moment algorithm have been put forward in this article.And the contributions made in this paper are as follows.First of all,when swarm robots collide in the narrow passage,how to avoid can make robots resolve conflicts and solve the deadlock problem,and lastly all robots can safely rarrive at the target points.For this,the maximum effective time method is proposed in this paper,which can solve the conflict of multiple machines in the simple narrow passage.Secondly,an improved leader-follower method was put foward in this paper,when swarm robots reach near the entrance to the narrow passage,they can easily generate emergent behaviors and enter into the narrow passage according to certain rules and order.In this way,after entering the narrow passage,swarm robots are able to form regular teams.Finally,it can effectively reduce the difficulty of the robot team meeting in the narrow passage.Last but not least,while the maximum effective time method can solve the conflict of the group robot in the simple narrow passage,the purpose of this paper is to solve the conflict problem of swarm robot in various narrow channels effectively.For this purpose,the maximum effective time method was improved to apply to this problem.And simulation experiments show that the improved maximum effective is capable of resolving conflict of swarm robot in the complex narrow passage and reduce robots' decision-making difficulty,amount of calculation and enhance efficiency.