Dynamic Frontier-Led Swarming:Multi-Robot Repeated Coverage in Dynamic Environments  

作　　者：Vu Phi Tran Matthew A.Garratt Kathryn Kasmarik Sreenatha G.Anavatti 

机构地区：[1]School of Engineering and Information Technology,University of New South Wales,Canberra,Australian Capital Territory 2612,Australia [2]IEEE

出　　处：《IEEE/CAA Journal of Automatica Sinica》2023年第3期646-661,共16页自动化学报（英文版）

基　　金：supported by the DEFENCE SCIENCE&TECHNOLOGY GROUP(DSTG)(9729);The Commonwealth of Australia supported this research through a Defence Science Partnerships agreement with the Australian Defence Science and Technology Group。

摘　　要：A common assumption of coverage path planning research is a static environment.Such environments require only a single visit to each area to achieve coverage.However,some real-world environments are characterised by the presence of unexpected,dynamic obstacles.They require areas to be revisited periodically to maintain an accurate coverage map,as well as reactive obstacle avoidance.This paper proposes a novel swarmbased control algorithm for multi-robot exploration and repeated coverage in environments with unknown,dynamic obstacles.The algorithm combines two elements:frontier-led swarming for driving exploration by a group of robots,and pheromone-based stigmergy for controlling repeated coverage while avoiding obstacles.We tested the performance of our approach on heterogeneous and homogeneous groups of mobile robots in different environments.We measure both repeated coverage performance and obstacle avoidance ability.Through a series of comparison experiments,we demonstrate that our proposed strategy has superior performance to recently presented multi-robot repeated coverage methodologies.

关 键 词：Artificial pheromones distributed control architecture dynamic obstacle avoidance multi-robot coverage STIGMERGY swarm robotics 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]