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A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints

In this paper, a multi-robot persistent coverage of the region of interest is considered, where persistent coverage and cooperative coverage are addressed simultaneously. Previous works have mainly concentrated on the paths that allow for repeated coverage, but ignored the coverage period requiremen...

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Detalles Bibliográficos
Autores principales: Sun, Guibin, Zhou, Rui, Di, Bin, Dong, Zhuoning, Wang, Yingxun
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6539886/
https://www.ncbi.nlm.nih.gov/pubmed/31035410
http://dx.doi.org/10.3390/s19091994
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author Sun, Guibin
Zhou, Rui
Di, Bin
Dong, Zhuoning
Wang, Yingxun
author_facet Sun, Guibin
Zhou, Rui
Di, Bin
Dong, Zhuoning
Wang, Yingxun
author_sort Sun, Guibin
collection PubMed
description In this paper, a multi-robot persistent coverage of the region of interest is considered, where persistent coverage and cooperative coverage are addressed simultaneously. Previous works have mainly concentrated on the paths that allow for repeated coverage, but ignored the coverage period requirements of each sub-region. In contrast, this paper presents a combinatorial approach for path planning, which aims to cover mission domains with different task periods while guaranteeing both obstacle avoidance and minimizing the number of robots used. The algorithm first deploys the sensors in the region to satisfy coverage requirements with minimum cost. Then it solves the travelling salesman problem to obtain the frame of the closed path. Finally, the approach partitions the closed path into the fewest segments under the coverage period constraints, and it generates the closed route for each robot on the basis of portioned segments of the closed path. Therefore, each robot can circumnavigate one closed route to cover the different task areas completely and persistently. The numerical simulations show that the proposed approach is feasible to implement the cooperative coverage in consideration of obstacles and coverage period constraints, and the number of robots used is also minimized.
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spelling pubmed-65398862019-06-04 A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints Sun, Guibin Zhou, Rui Di, Bin Dong, Zhuoning Wang, Yingxun Sensors (Basel) Article In this paper, a multi-robot persistent coverage of the region of interest is considered, where persistent coverage and cooperative coverage are addressed simultaneously. Previous works have mainly concentrated on the paths that allow for repeated coverage, but ignored the coverage period requirements of each sub-region. In contrast, this paper presents a combinatorial approach for path planning, which aims to cover mission domains with different task periods while guaranteeing both obstacle avoidance and minimizing the number of robots used. The algorithm first deploys the sensors in the region to satisfy coverage requirements with minimum cost. Then it solves the travelling salesman problem to obtain the frame of the closed path. Finally, the approach partitions the closed path into the fewest segments under the coverage period constraints, and it generates the closed route for each robot on the basis of portioned segments of the closed path. Therefore, each robot can circumnavigate one closed route to cover the different task areas completely and persistently. The numerical simulations show that the proposed approach is feasible to implement the cooperative coverage in consideration of obstacles and coverage period constraints, and the number of robots used is also minimized. MDPI 2019-04-28 /pmc/articles/PMC6539886/ /pubmed/31035410 http://dx.doi.org/10.3390/s19091994 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Sun, Guibin
Zhou, Rui
Di, Bin
Dong, Zhuoning
Wang, Yingxun
A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints
title A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints
title_full A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints
title_fullStr A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints
title_full_unstemmed A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints
title_short A Novel Cooperative Path Planning for Multi-robot Persistent Coverage with Obstacles and Coverage Period Constraints
title_sort novel cooperative path planning for multi-robot persistent coverage with obstacles and coverage period constraints
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6539886/
https://www.ncbi.nlm.nih.gov/pubmed/31035410
http://dx.doi.org/10.3390/s19091994
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