Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments
文献类型：期刊论文
| 作者 | Vu Phi Tran; Matthew A. Garratt; Kathryn Kasmarik; Sreenatha G. Anavatti |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2023 |
| 卷号 | 10期号:3页码:646-661 |
| 关键词 | Artificial pheromones distributed control architecture dynamic obstacle avoidance multi-robot coverage stigmergy swarm robotics |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2023.123087 |
| 英文摘要 | A common assumption of coverage path planning research is a static environment. Such environments require only a single visit to each area to achieve coverage. However, some real-world environments are characterised by the presence of unexpected, dynamic obstacles. They require areas to be revisited periodically to maintain an accurate coverage map, as well as reactive obstacle avoidance. This paper proposes a novel swarm-based control algorithm for multi-robot exploration and repeated coverage in environments with unknown, dynamic obstacles. The algorithm combines two elements: frontier-led swarming for driving exploration by a group of robots, and pheromone-based stigmergy for controlling repeated coverage while avoiding obstacles. We tested the performance of our approach on heterogeneous and homogeneous groups of mobile robots in different environments. We measure both repeated coverage performance and obstacle avoidance ability. Through a series of comparison experiments, we demonstrate that our proposed strategy has superior performance to recently presented multi-robot repeated coverage methodologies. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/51178]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Vu Phi Tran,Matthew A. Garratt,Kathryn Kasmarik,et al. Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(3):646-661. |
| APA | Vu Phi Tran,Matthew A. Garratt,Kathryn Kasmarik,&Sreenatha G. Anavatti.(2023).Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments.IEEE/CAA Journal of Automatica Sinica,10(3),646-661. |
| MLA | Vu Phi Tran,et al."Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments".IEEE/CAA Journal of Automatica Sinica 10.3(2023):646-661. |
入库方式： OAI收割
来源：自动化研究所
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