Research On Group Robots Sequence Task Planning Algorithm Based On The Single Chain Navigation

Artificial intelligence is a hot topic among various research fields,and artificial intelligence technology has developed rapidly in recent years.Swarm intelligence is an important branch of artificial intelligence.There are many kinds of swarm intelligence algorithms.Currently,the most widely used swarm intelligence algorithms are as follows: Ant Colony Optimization(ACO),Artificial fish-swarm Algorithm(AFSA),Artificial Bee Colony Algorithm(ABC),Particle Swarm Optimization(PSO)and so on.But until now,swarm robot intelligence has mainly focused on simple cognitive abilities,such as the improvement of geometric or spatial attributes and mechanical capabilities.This thesis mainly studies complex task processing by the intelligence of robots without center.The focus of this thesis is to propose a single chain robot navigation algorithm,which uses a robot link composed of orderly arranged robots to navigate other robots in space according to a certain priority relationship,so as to facilitate other robots in the system to complete a number of tasks in an orderly sequence.From the point of the research status,the robot intelligence are still largely focused on simple cognitive ability.Auxiliary navigation and robot link in group robots simply as a search method was studied,and the concept of robot link has no application in path planning and mission planning.This study thinks that the link is a very good group robots path planning method,and extends it successfully to the field of the sequence mission planning.The algorithm has certain innovation based on swarm intelligence to process complex sequence task planning and navigation problem,and solves the sequence mission planning problem in unknown environments.The single chain navigation algorithm proposed in this thesis has the characteristics of no center control,simple algorithm structure,strong system robustness,low performance requirements for a single robot and high portability.In this thesis,Matlab software is used to carry out the simulation experiment,and a great deal of comparative experiments have been done.The feasibility and advancement of the single chain navigation algorithm are proved through the analysis of the experimental results.