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针对多机器人网络系统存在故障检测与修复、网络重构与修复等问题,提出了自重构的免疫网络模型,将正常的节点表示为自体,将受损的节点或外来非法机器人表示为异体,用重构算法优化受损的系统,用免疫算法消除故障并修复系统.研究了免疫计算技术在多机器人网络系统的应用方法,设计了多机器人免疫网络的免疫算法和网络重构算法,给出了多机器人灭火的应用例子.
Aiming at the problems of multi-robot network system such as fault detection and repair, network reconfiguration and repair, a self-reconfigurable immune network model is proposed. The normal nodes are expressed as self, the damaged nodes or foreign illegal robots are represented as heterogeneous, The reconstruction algorithm is used to optimize the damaged system, and the immune algorithm is used to eliminate the fault and repair the system. The application of immune computing technology in multi-robot network system is studied. The immune algorithm and network reconfiguration algorithm of multi-robot immune network are designed. A multi-robot fire extinguishing application example.