Swarm robotics refers to artificial swarm systems composed of a large number of autonomous mobile robots with relatively simple structures and functions. One of the basic problems of swarm robotics involves the target search process, which entails a cooperative search using limited perception and local interaction of robots under a self-organizing mechanism. When communication is limited, the connectivity of swarm robotics may decrease, leading to the failure of the target search task. This article describes a new target search method based on the robot chain model and the elimination mechanism. The proposed method allows the target search task to be completed efficiently and reliably while maintaining the connectivity of the robots. Experimental results show that the proposed algorithm offers better performance than conventional techniques in terms of search speed and success rate, and provides an effective method for solving the target search problem using swarm robotics in limited-communication environments.

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基于带消除机制的机器人链的有限通信环境下群机器人目标搜索方法

群机器人是指由大量结构和功能相对简单的自主移动机器人组成的人工群系统。群体机器人的基本问题之一涉及目标搜索过程，它需要在自组织机制下使用机器人的有限感知和局部交互进行协作搜索。当通信受限时，群机器人的连通性可能会降低，导致目标搜索任务失败。本文介绍了一种新的基于机器人链模型和消除机制的目标搜索方法。所提出的方法允许高效可靠地完成目标搜索任务，同时保持机器人的连通性。