摘要
系统地总结了当前覆盖问题的定义、分类和应用前景.对多机器人覆盖中关于通信、环境地图、路径规划算法及效果评价等方面的研究进展情况进行了阐述.分析并指出若干多机器人覆盖研究中的重点和难点问题:体系结构、通信技术、协商协作、地图表示、路径规划及效果评价,并对未来的研究发展方向进行了探讨.
The definition, classification and application of coverage are summarized roundly： And the recent research results about multi-robots communication, robotic mapping, coverage path planning, algorithm performance evaluating in multi-robot coverage are also discussed. The main challenges and difficulties in this aspect are analyzed, such as multi-robots architecture, multi-robots communication, robotic mapping, path planning, task allocation, coverage path planning and algorithm performance evaluating. Finally, some future trends of this field are presented.
出处
《控制与决策》
EI
CSCD
北大核心
2008年第5期481-486,491,共7页
Control and Decision
基金
国家自然科学基金重点项目(60234030)
国家基础研究项目(A1420060159)
关键词
多机器人
覆盖
路径规划算法
效果评价
研究进展
Multi-robots
Coverage
Path planning algorithm
Performance evaluating
Researchdevelopment
