【摘要】 研究在线多机器人地图覆盖。在单机器人生成树STC算法基础上做出改进,融入了市场拍卖算法,使机器人团体扩散地生成树,并沿各自生成树完成地图覆盖。通过两种不同环境地图覆盖仿真,结果验证改进后的IMPSTC算法,能够使机器人团队在更少的时间和重复覆盖区域情况下完成在线覆盖地图任务。更多还原

【Abstract】 We discusses multi-robot online map coverage.We introduce the market auction algorithm to improve the spanning tree covering algorithm of a single robot,make robot team diffuse a spanning tree and cover the map completely along their own spanning trees.Two simulation experiments are conducted and the results of two different environment map coverage show that the improved spanning tree covering algorithm can make the robot team accomplish online map coverage with less time and less repeated coverage.更多还原