考虑先验信息的多机器人重点区域协同覆盖  

Multi-robot cooperative coverage of key regions considering prior information

作　　者：段安娜 周锐[1] 邸斌 DUAN Anna;ZHOU Rui;DI Bin(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China;CETC Key Laboratory of Aerospace Information Application,China Electronics Technology Group Corporation,Shijiazhuang 050081,China;Defense Innovation Institute,Academy of Military Sciences PLA China,Beijing 100171,China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191 [2]中国电子科技集团公司航天信息应用技术重点实验室,石家庄050081 [3]中国人民解放军军事科学院国防科技创新研究院,北京100171

出　　处：《北京航空航天大学学报》2023年第6期1479-1486,共8页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(62003365,61773031);中国电子科技集团公司航天信息应用技术重点实验室开放基金(SCX20629T007)。

摘　　要：针对复杂环境下的多移动机器人对重点目标区域协同持续监视覆盖问题,假定在目标区域内分布着若干障碍及固定观测点,已获得固定观测点处所关心的目标参量历史测量数据,考虑为机器人群规划一组监视路径,以实现对重点目标区域高覆盖率、高频率的监视覆盖。建立多机器人协同持续监视问题的数学模型;基于小脑模型神经网络(CMAC)对区域内固定观测点的测量数据进行学习泛化以获得区域内目标参量估计;利用基于传感器配置-路径框架划分的路径规划组合策略以求得各机器人优化路径。仿真实验验证了模型和求解方法的有效性。This paper addresses the cooperative continuous monitoring coverage problem of multiple mobile robots for key target areas in complex environments.It is assumed that a number of obstacles and fixed observation points are distributed in the target area,and that the historical measurement data of the target parameters at the fixed observation points have been obtained.A group of monitoring paths are planned for the robot crowd to realize the monitoring coverage of the key target area with high coverage and high frequency.Firstly,the mathematical model of multi-robot cooperative continuous monitoring problem is established.Then,based on the cerebellar model articulation controller(CMAC),the measurement data of the fixed observation points in the region are generalized to obtain the target parameter estimation in the region.Finally,the combined path planning strategy based on sensor configuration-path framework partition is used to obtain the optimal path of each robot.Simulation experiments verify the effectiveness of the proposed method.

关 键 词：协同覆盖 小脑模型神经网络 多机器人 路径规划 粒子群优化方法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]