Collaborative Navigation Based on Gene Regulatory Networks and Finite State Machine
- Resource Type
- Conference
- Authors
- Wang, Chen; Fan, Zhun; Luo, Weicheng; Gu, Minqiang; Wang, Dongliang; Shi, Zhaohui
- Source
- 2022 8th International Conference on Big Data and Information Analytics (BigDIA) Big Data and Information Analytics (BigDIA), 2022 8th International Conference on. :12-19 Aug, 2022
- Subject
- Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Navigation
Swarm robotics
Collaboration
Automata
Big Data
Robot sensing systems
Data models
multi-robot
navigation
gene regulatory network
finite state machine
swarm intelligence
- Language
- ISSN
- 2771-6902
In this study, we propose a novel robot navigation algorithm that combines a gene regulatory network (GRN) with a finite state machine (FSM). The GRN provides robots with a concentration field based on coupled target information and local obstacle information within the sensor range. The robots employ FSM mechanism to make behavioral choices according to their actual environment and current state of the other robots. Through mutual communication between the swarm robots, the robot's experience of exploring unknown paths is realized, and the overall navigation efficiency of the robot is maximized. Different task scenarios are designed and the effectiveness of the proposed method is experimentally verified.