基于阵列式发射模组的群体机器人动态无线供电路径规划研究

群体机器人可依靠群智能有效分工协作完成复杂和大规模任务，在物流、制造、交通和军事等领域有极大的应用价值。然而，目前已有电能补给方式均无法满足其持续不间断充电的需求，导致强大的协同工作能力得不到充分发挥。为此，本文提出一种基于阵列式发射模组的群体机器人动态无线充电方式，可为群体机器人工作过程中实时供给电能。首先，分析了机器人动态无线充电过程中效率和功率的波动特性。其次，以充电效率最优为目标，提出一种带有惩罚机制改进的蚁群算法以及协同工作模式，并应用于群体机器人协同动态无线充电系统。最后，进行仿真实验，验证了本文提出的方法可实现群体机器人在动态无线充电过程中稳定可靠协同工作。本文的研究对群体智能的研究具有极大的促进作用。

Research on path planning for dynamic wireless charging of swarm robots based on array transmitting module

Swarm robots can rely on swarm intelligence algorithm to effectively divide and cooperate to complete complex and large-scale tasks. They have great application value in the fields of logistics, manufacturing, transportation and military. However, the existing charging methods can not meet the continuous charging needs of swarm robots, resulting in their strong cooperative ability not being brought into full play.Therefore, this paper proposes a dynamic wireless charging mode of swarm robots based on array transmitting module, which can supply real-time power for swarm robots in the working process. Firstly, This paper analyzes the fluctuation characteristics of efficiency and power during dynamic wireless charging of the robot. Secondly, this paper proposes an improved ant colony algorithm with penalty mechanism and a cooperative work model with the goal of optimal charging efficiency during robot motion, and apply them to a group robot cooperative dynamic wireless charging system. Finally, simulation experiments are carried out to verify that the proposed method can realize the stable and reliable cooperative work of swarm robots in the process of dynamic wireless power supply. The research of this paper can greatly promote the research of swarm intelligence.