多简单机器人协作覆盖规划研究

详细信息

On Cooperative Coverage Planning by Multi-simple-robot

School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China

摘要: 研究了多简单机器人协作覆盖的问题．针对简单机器人只能用接触传感器感知外部环境的局限性，提出了基于栅格地图表示法的多机器人内螺旋覆盖算法进行在线覆盖规划．该方法通过对部分区域的重复覆盖和设置GATE栅格实现了对环境的完全覆盖，同时该方法保证了只要有一个机器人不出现故障就可以完成覆盖，提高了系统稳定性．最后用仿真试验验证了该方法的可行性．
- 多简单机器人 /
- 覆盖算法 /
- 完全覆盖 /
- 稳定性
Abstract: Cooperative coverage by multi-simple-robot is discussed.For online coverage planning,a Multi-robot Internal Spiral Coverage algorithm based on grid map is presented to overcome the sensing limitation of simple robot that can sense the environment only by contact sensors.The algorithm guarantees complete coverage by repeating covering portion of the environment and setting the GATE grids.The algorithm improves system stability in the sense that coverage can be completed if only one robot is not in catastrophic failure.Simulation experiment proves the feasibility of the algorithm.
- multi-simple-robot /
- coverage algorithm /
- complete coverage /
- stability

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