多移动机器人区域分割优化覆盖算法研究  

Research on Optimized Partition Algorithm for Multi Robots Coverage

作　　者：黄成[1] HUANG Cheng(Sichuan Engineering Technical College, Deyang 618000,China)

机构地区：[1]四川工程职业技术学院,四川德阳618000

出　　处：《电脑与信息技术》2018年第3期5-7,13,共4页Computer and Information Technology

摘　　要：针对多机器人协作的全覆盖路径规划优化问题,提出了一种区域分割优化覆盖算法,完成多机器人对未知区域的快速、高效的覆盖任务。在移动机器人全覆盖路径规划研究中,将机器人的能量、速度、任务完成时间等作为限制条件,对所需机器人的数目、机器人分成的组数及机器人工作的起始位置进行规划,以实现利用最少数目的机器人完成给定区域的优化分割和覆盖。对比仿真实验,结果表明本方法在给定机器人数量的情况下,完成了最大区域的覆盖。该方法可以有效完成多机器人对未知区域的快速高效的搜索覆盖任务。For the problem of full coverage path planning optimization of multi-robot collaboration, an algorithm named the optimized region partition coverage algorithm（O R PCA） is proposed to accomplish multi-robots,coverage task fast for an unknown area. For mobile robot＇s study of covering whole region, the numbers of robots, the groups of robots and their initial locations are ensured with the limit of each robot＇s energy, velocity and working time constraints. This algorithm uses the minimum number of robots to achieve optimized region partition and coverage. The results show that the maximum area coverage is accomplished by the number of robots.. This method can effectively accomplish the fast and efficient search coverage tasks for multi robot to the unknown region.

关 键 词：多移动机器人 区域覆盖 路径规划 分割优化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]