摘要
This paper discusses the complete area coverage of multi-robots in unknown environments. Finding the optimal solution for the problem of area coverage with multiple robots has been proven to be NP-hard. This paper proposes the Multi-agent Node Backtracking Area Coverage (MANBAC) algorithm, which uses improved BCD local area coverage method, and the node backtracking method that is based on the A∗ algorithm to achieve complete coverage of the entire unknown area. Compared with the area coverage of a single robot, use multi robots can greatly improve the efficiency of area coverage. Compared with the existing coverage algorithms in known area, this study can be applied to a wider range of area scenarios which are not known.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | Proceedings of the 40th Chinese Control Conference, CCC 2021 |
| 编辑 | Chen Peng, Jian Sun |
| 出版商 | IEEE Computer Society |
| 页 | 5166-5171 |
| 页数 | 6 |
| ISBN（电子版） | 9789881563804 |
| DOI | |
| 出版状态 | 已出版 - 26 7月 2021 |
| 活动 | 40th Chinese Control Conference, CCC 2021 - Shanghai, 中国 期限: 26 7月 2021 → 28 7月 2021 |
出版系列
| 姓名 | Chinese Control Conference, CCC |
|---|---|
| 卷 | 2021-July |
| ISSN（印刷版） | 1934-1768 |
| ISSN（电子版） | 2161-2927 |
会议
| 会议 | 40th Chinese Control Conference, CCC 2021 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Shanghai |
| 时期 | 26/07/21 → 28/07/21 |
指纹
探究 'Efficient Multi-Robot Coverage of an Unknown Environment' 的科研主题。它们共同构成独一无二的指纹。引用此
Chen, Z., Peng, Z., Jiao, L., & Gui, Y. (2021). Efficient Multi-Robot Coverage of an Unknown Environment. 在 C. Peng, & J. Sun (编辑), Proceedings of the 40th Chinese Control Conference, CCC 2021 (页码 5166-5171). (Chinese Control Conference, CCC; 卷 2021-July). IEEE Computer Society. https://doi.org/10.23919/CCC52363.2021.9549546