面向平均区域覆盖的多机器人分布式控制

With the development of communication technology, sensing technology and control technology, multi-robot system shows broad prospects in theoretical research and engineering application due to its good robustness, flexibility and scalability. Area coverage is one of the typical applications of multi-robot system. At present, the mainstream is to divide the coverage area using Voronoi diagram and control the robot to go to the cell center by Lloyd algorithm. However, the traditional Lloyd algorithm has imbalance problem, that is, the coverage area of robots is different, which reduces the efficiency of multi-robot cooperation. To solve the even coverage problem, this paper improves the Lloyd algorithm by introducing the cell area variance in the Voronoi diagram into the Lloyd algorithm, and correspondingly deriving the controller based on the gradient descent method. This method reduces the variance of each cell area in the Voronoi diagram, which improves the balance of the Lloyd algorithm, and can realize a more even division of the whole area and the coverage of the robot. The effectiveness of the improved algorithm is verified by numerical simulation and UAV physical experiment.