Multi-robot area coverage method based on improved particle swarm algorithm
A technology for improving particle swarms and multi-robots, applied in the field of robots, it can solve the problems of low coverage area and coverage rate, not considering the detection range of different robots, and achieve the effect of improving coverage rate
Pending Publication Date: 2021-12-17
NANJING UNIV OF POSTS & TELECOMM
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[0006] The purpose of the present invention is to provide a multi-robot area coverage method based on the improved particle swarm algorithm to solve the problem in the prior art that when using a variety of different robots, the difference in the detection range of different robots is not considered, so that the coverage area and coverage low rate problem
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[0032] A multi-robot area coverage method based on an improved particle swarm algorithm, comprising:
[0033] Establish a coordinate system for the area to be covered, and let the position of robot i in the coordinate system be p in the group of n robots with different detection ranges i (x i ,y i ), and then use the improved particle swarm algorithm to solve the point cloud. In the iterative process of the particle swarm algorithm, the detection range of different robots is considered, and the speed and position are updated until the position set of the robot covering the target area is obtained to the greatest extent.
[0034] This kind of multi-robot area coverage method based on the improved particle swarm algorithm, compared with the existing method, can be used for a variety of robots with different detection ranges to cover in a known area, effectively improving the actual coverage area and coverage rate, making the generated The target point cloud achieves better cov...
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The invention provides a multi-robot area coverage method based on an improved particle swarm algorithm, and the method comprises the steps: building a coordinate system for a to-be-covered area, forming a vector according to the positions of n robots with different detection ranges and each robot i in a global coordinate system, taking the vector as an iteration initial position, and solving a point cloud through the improved particle swarm algorithm; in the iteration process of the particle swarm algorithm, considering the detection ranges of different robots, and carrying out speed and position updating until a position set of the robots covering the target area to the maximum degree is obtained; compared with an existing method, the improved particle swarm algorithm-based area coverage method applied to multiple robots can be used for coverage of robots in various different detection ranges in a known area, the actual coverage area and the coverage rate are effectively improved, the generated target point cloud can better cover the area, and a robot position set covering the area to the maximum degree can be generated.
Description
technical field [0001] The invention relates to a multi-robot area covering method based on an improved particle swarm algorithm, belonging to the technical field of robots. Background technique [0002] At present, compared with other aspects of multi-robot research, the research results of multi-robot coverage are less. However, multi-robot coverage has important practical application value in many fields, such as cleaning, search and rescue, and farming. In addition, it can also be regarded as a centralized platform for multi-robot system research hotspots, and the solution of related problems has universal significance. [0003] Particle Swarm Optimization (PSO) was first proposed by Eberhart and Kennedy in 1995. It is a bionic algorithm, which originated from the research on the foraging behavior of birds. A group of birds randomly search for food. There is only one piece of food in the area. All the birds do not know where the food is, but they know how far the curren...
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Login to View More IPC IPC(8): G06N3/00
CPCG06N3/006
Inventor 季一木王桢发刘尚东袁猛黄乃娇陈澄
Owner NANJING UNIV OF POSTS & TELECOMM