具有能量和时间约束的移动机器人部署策略

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570540

Yongguo Mei, Yung-Hsiang Lu, Y.C. Hu, C.S.G. Lee

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引用次数: 46

摘要

移动机器人通常携带有限的能量，必须在最后期限前完成任务。这些任务的例子包括搜索和救援，地雷探测和地毯清洁。许多研究人员一直在研究这些任务的控制、传感和协调。然而，一个主要问题尚未得到充分解决:移动机器人的初步部署。部署问题考虑了所需机器人的数量和它们的初始位置。在本文中，我们提出了一种解决机器人在有限的能量和时间下共同完成覆盖任务的部署问题的方法。仿真结果表明，在覆盖相同面积的情况下，与两种启发式算法相比，该方法使用的机器人数量减少了26%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Deployment Strategy for Mobile Robots with Energy and Timing Constraints

Mobile robots usually carry limited energy and have to accomplish their tasks before deadlines. Examples of these tasks include search and rescue, landmine detection, and carpet cleaning. Many researchers have been studying control, sensing, and coordination for these tasks. However, one major problem has not been fully addressed: the initial deployment of mobile robots. The deployment problem considers the number of robots needed and their initial locations. In this paper, we present a solution for the deployment problem when robots have limited energy and time to collectively accomplish coverage tasks. Simulation results show that our method uses 26% fewer robots comparing with two heuristics for covering the same size of area.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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