摘要
装备了传感器的多机器人系统可以在各种场景中完成覆盖搜索任务,例如污染源监测和控制。而传统基于CVT的覆盖控制算法未曾考虑到环境对机器人健康的影响,以及不同健康机器人对覆盖成本的影响。针对上述问题,提出了一种基于健康优化管理的多机器人覆盖控制算法。首先引入多机器人健康优化管理办法,将机器人的健康退化纳入位置优化问题,最大程度地减少机器人的健康损耗,并尽可能地延长不健康机器人的工作寿命;其次引入基于加权维诺的分布式覆盖控制方法,为多机器人提供最优配置的同时最小化代价函数;目标是当机器人执行任务的能力随时间变化时,执行覆盖任务,提供最优配置。最终通过数值仿真和实验验证了所提算法的有效性。
The multi-robot system equipped with sensors can complete coverage search tasks in various scenarios,such as pollution source monitoring and control.The traditional CVT-based coverage control algorithm has not considered the impact of the environment on the health of the robot,and the impact of different health robots on the coverage cost.In response to the above problems,a multi-robot coverage control algorithm based on health optimization management is proposed.Firstlymulti-robot health optimization management methods are proposed,the health degradation of robots is incorporated into the position optimization problem,the health loss of robots is minimized,and the working life of unhealthy robots is extended as much as possible.Secondly,a distributed coverage control method based on weighted voronoi is introduced to provide the optimal configuration for multiple robots while minimizing the cost function.The goal is to perform the coverage task and provide the optimal configuration when the robot’s ability to perform tasks changes over time.Finally,the effectiveness of the proposed algorithm is verified by numerical simulation and experiment.
作者
曹凯
陈阳泉
高嵩
党海鑫
张嘉豪
CAO Kai;CHEN Yangquan;GAO Song;DANG Haixin;ZHANG Jiahao(School of Mechatronic Engineering,Xi’an Technological University,Xi’an Shaanxi 710021,China;School of Electronic Information Engineering,Xi’an Technological University,Xi’an Shaanxi 710021,China;College of Engineering,University of California,Merced CA 95343,USA)
出处
《传感技术学报》
CAS
CSCD
北大核心
2022年第7期902-912,共11页
Chinese Journal of Sensors and Actuators
基金
陕西省科技厅重点研发计划项目(2022GY-238)
陕西省技术创新引导项目(2022QFY01-16)
陕西省重点研发计划一般项目(2021GY-067)。
关键词
加权维诺
多机器人
覆盖控制
健康优化管理
传感器
weighted centroidal voronoi tessellation
multi-robot
coverage control
health optimization management
sensors
