引入方向变量的群机器人启发式区域覆盖算法

针对基于栅格地图环境下,群机器人采用启发式全区域覆盖算法完成区域覆盖任务时,多个机器人相遇后,并发覆盖相同栅格而造成重复覆盖的问题,通过减少机器人运动过程中的转向次数的方法,有效减少了机器人的相遇次数,从而减少了机器人并发覆盖相同栅格的次数。根据该方法,在原算法中引入了方向变量,形成了改进的群机器人启发式全区域覆盖算法。最后,通过仿真实验,说明了该算法的有效性。

Heuristic Algorithm with Directional Variable on Terrain Coverage of Swarm Robotics

This paper is focusing on the problem of swarm robots＇ repeated covering the same grid when they encounter,in which the real-time heuristic algorithm based on grid map is used to finish the terrain coverage.The meeting times of swarm robots are reduced by decreasing the turning times as they are moving,so the times of their concurrently covering the same grid are reduced.According to this idea,a directional variable is introduced in the algorithm and a novel real-time heuristic algorithm on terrain coverage of swarm robotics was formed.Finally,the simulation experiments proved that the method was effective.