中文摘要：

针对群机器人在多目标搜索过程中的协作分工问题,受黄蜂群劳动分工的启发,在黄蜂群的响应阈值模型中引入距离变量来解决群机器人多目标搜索中的任务分配问题。当机器人感知到目标信号时,机器人根据当前搜索该目标的机器人数量以及自身距群体最优位置之间的距离决定是否参与搜索该目标信号,从而实现了机器人之间针对搜索不同目标的任务分配。仿真结果表明,该方法有效可行。

英文摘要：

Aiming at collaboration and task allocation of swarm robots in multi-target localization, inspired by divi- sion of labor in social wasp, the distance variable is applied to response threshold model to solve task allocation in swarm robotics. Robots will decide whether to search the target depending on the number of robots searching for the target and the distance between them and the global best while detecting the signals emitted from targets, and the robots can effectively allocate the task based on different signals. Simulation results have shown that this method is feasible and effective.