Pollution detection method based on multi-agent coverage
A pollution detection, multi-agent technology, applied in the field of agents
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[0042] Step 1: Define the coverage area and divide it into Voronoi partitions.
[0043] Suppose Q is a convex polygonal area that needs to be covered for pollution detection. Any point in Q is denoted as q, and a group of multi-agents {1,...,n} is defined, and the positions of agents are given by P=(p 1 ,...,p n ) means that the agent k represents any agent in the multi-agent, namely k∈{1,…,n}, and each agent moves in the convex polygon area Q. Any point q in Q is responsible for the agent with the minimum distance cost, so as to obtain the optimal divided convex polygon area according to the coverage detection efficiency. The Voronoi partition of agent k is defined as follows:
[0044]
[0045] When two Voronoi partitions V k and V j When adjacent (i.e. they share an edge), p j called p k neighboring agents (and vice versa). According to the definition of Voronoi partition, for any q on the boundary, there is min k∈{1,…,n} ||q-p k || 2 =||q-p j || 2 . The age...
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