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总结当前覆盖问题的定义、分类和应用,使用三元组表示法形式化地描述了区域覆盖的问题定义.简要介绍黄蜂群的固定响应阈值模型,详细说明了群机器人基于固定响应阈值模型的黄蜂群区域覆盖算法.应用概率分析的方法对机器人的平均移动概率、响应阈值和刺激量的关系进行数学分析,从而指导响应阈值的选取.通过选取不同的区域大小、机器人数量以及响应阈值进行仿真实验,说明区域覆盖率、重复覆盖率与响应阈值、刺激量之间的关系.仿真结果表明,该算法有效可行.
Summarize the definition, classification and application of the current coverage problem, formally describe the problem definition of the regional coverage by using the triplet representation.We briefly introduce the fixed response threshold model of the wasp swarm, and give a detailed description of the swarm based on the fixed response threshold model Group coverage algorithm.The mathematical analysis of the relationship between the robot’s average moving probability, response threshold and stimulus volume is carried out by using the method of probability analysis to guide the selection of the response threshold.Different area size, number of robots and response threshold are selected for simulation , Shows the relationship between regional coverage, repetition coverage, response threshold and stimulus.The simulation results show that the algorithm is feasible and effective.