پديد آورندگان :
اعتمادي حقيقي، شهرام نويسنده استاديار گروه مهندسي مكانيك و هوافضا، دانشگاه آزاد اسلامي واحد علوم تحقيقات Etemadi, S , آلستي، آريا نويسنده استاد دانشكده‌ي مهندسي مكانيك، دانشگاه صنعتي شريف Alasty, A
كليدواژه :
شبكه‌ي جهت‌دار , كنترل توزيع شده , عبور از مانع , مجموعه چندعضوي روبات‌ها
چكيده فارسي :
در مجموعه‌هاي روباتيكي چندعضوي كه در آنها اعضا تنها به اطلاعات محلي در اطراف خود دسترسي دارند، عبور از موانع و گذرگاه‌هاي باريك مستلزم حذف اتصالات بين‌عضوي غيرضروري است. اين امر در شبكه‌هاي غيرجهت‌دار نيازمند توافقات بين‌عضوي است، كه انجام آن تنها با در اختيار داشتن اطلاعات اعضاي غيرهمجوار ميسر خواهد بود. لازمه‌ي دسترسي اعضا به اين‌گونه اطلاعات، انتقال حجم زياد اطلاعات شبكه در بين اعضاي گروه است. در اين مقاله يك روش كنترل توزيع‌شده‌ي پيرو ـ پيشرو ارايه مي‌‌شود كه بدون نياز به اطلاعات اعضاي غيرهمجوار، در بازه‌هاي زماني كوتاه در برخي گره‌ها حركات جهت‌دار اتفاق مي‌‌افتد. عضوي كه حركت جهت‌دار انجام مي‌‌دهد از بعضي اتصالات با اعضاي همجوار صرف نظر مي‌كند. نتيجه‌ي اين حركت ايجاد سياليت در شبكه‌ي گروه است كه منجر به عبور گروه از گذرگاه خواهد شد.
چكيده لاتين :
In practice, agents of a multi-agent system usually access local information. In a real world example, agents must be able to move through obstacles while the connectivity of the group is maintained. Moving through obstacles needs network flexibility, in which, in an undirected network graph, unnecessary inter-agent connections must be ignored; this needs consensus between agents. In order to reach such a consensus, every agent needs information regarding its neighbors, or, at least, the neighbors of neighbors. Assuming a large scale multi-agent system, the huge amount of information exchange in a network is a serious problem. In this paper, an undirected network graph is presented, which is capable of switching to a directed graph, if needed. Nodes in this graph can perform directional movements, while they only use very local data. Hence, for moving through narrow gates, the network shows considerable flexibility. Since, in this method, decisions are only made based on every agent’s local data, data traffic will not occur, which is a significant point in a practical large scale multi-agent system. It is important to note that in a moving frame with limited communication, agents cannot even recognize the forward direction. Every agent monitors the relative position of its neighbors; network configuration in its neighborhood is the only information available. Recognition of the forward direction depends on the distance and relative position of neighbors. According to the method, if an agent can define one of its neighbors as a leader, it will then show directional movements towards it. It means that the number of other agents and their attraction cannot prevent it from moving towards its leader. In order to prevent total disconnection, an additional algorithm prevents the agent from getting too far away from its following members. Note that every node does not necessarily show directional movement.
