访问者访问趋势下多机器人动态分区巡逻策略  

Dynamic Partition Patrol Strategy of Multi-robot Under Visitor Access Trend

作　　者：马文杰 李宗刚[1,2] 杜亚江[1,2] 陈引娟[1,2] MA Wenjie;LI Zonggang;DU Yajiang;CHEN Yinjuan(School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Robotics Institute,Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]兰州交通大学机电工程学院,兰州730070 [2]兰州交通大学机器人研究所,兰州730070

出　　处：《计算机科学》2024年第S02期685-693,共9页Computer Science

基　　金：国家自然科学基金(61663020);甘肃省高等学校产业支撑计划项目(2022CYZC-33);大连理工大学工业装备结构分析国家重点实验室开放课题(ZG22119);兰州交通大学军民融合创新团队培育基金(JMTD202211)。

摘　　要：针对外来访问者访问环境导致所在分区机器人巡逻工作负荷增大的问题,提出一种访问者访问趋势的多机器人动态分区巡逻策略,以提高多机器人系统在动态环境中巡逻的效率。首先,使用改进k-means策略完成对环境的静态初始化分,通过在不同位置加入机器人的访问频次需求,机器人在各自的区域中执行巡逻任务;其次,当访问者进入环境对不同节点进行访问时,机器人通过关注访问者访问的趋势,与相邻分区机器人协商后,将区域候选节点经过对相邻区域的多次转移以均衡分区机器人的工作负荷,完成对区域的实时动态划分。仿真结果表明,机器人可以在成功检测到访问者的同时保持工作负荷动态均衡,所提访问者访问趋势下多机器人动态分区巡逻策略可以显著提升动态环境下多机器人巡逻的效率。To address the issue of increased patrol workload for robots in areas with high foreign visitor traffic,this paper proposes a multi-robot dynamic partitioning patrol strategy that takes into account visitor trends.This strategy aims to improve the efficiency of the multi-robot system in patrolling dynamic environments.Firstly,an improved k-means strategy is used to complete the static initialization score of the environment.Then,the robots perform patrolling tasks in their respective zones by adding the robots′access frequency requirements at different locations.Secondly,when visitors enter the environment to visit different nodes,the robots focus on the visitors′access trends,negotiate with neighboring partitioned robots,and then transfer the region candidate nodes through the neighbouring regions multiple times to balance the workload of the partitioning robots and complete the real-time dynamic partitioning of the region.The simulation results demonstrate that the robots can effectively detect visitors while maintaining dynamic workload balancing.Additionally,the proposed multi-robot dynamic zoning patrol strategy,under the visitor access trend,can significantly enhance the efficiency of multi-robot patrol in dynamic environments.

关 键 词：节点访问频次 访问者趋势 动态分区 多机器人系统 持续巡逻 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]