针对群集机器人的分群问题，以E-puck群集机器人系统为研究平台，从外部刺激信息在群集内有效传播的角度出发，提出了一种基于自组织结对行为的群集机器人分群控制方法。该方法利用机器人航向的变化表征其应激反应强度，并引入两两结对行为实现刺激信息在群集内部传播的最大化。在此基础上，结合传统的“分离／组队／聚合”规则对机器人的运动行为进行协调，实现了机器人群集在外部刺激下的自发分群行为。实验结果表明：该方法不仅能实现机器人群集的应激分群运动，而且分群后的子群仍具备良好的稳定性。%For the fission problem of swarm robots, E-puck swarm robot system is employed as the research platform and a self-organized pairwise interaction behavior based fission control method is proposed from the effective information transfer perspective.This method utilizes the variation of headings to represent the intensity of stress reaction and introduce the pairwise interaction behavior to maximize the information transfer within the flock. Together with the traditional“separation/alignment/repulsion” rules, the motion behavior of robots is coordinated, this realizes the spontaneous fission behavior under external stimuli.Experimental results and their analysis demon-strate preliminarily that the proposed method is able to achieve the spontaneous fission maneuver, and that the sub-groups have good stability after the fission behavior occurs.
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