【摘要】 针对非凸区域下感知范围有限的多机器人协作区域覆盖问题，重新定义非凸环境下的距离度量函数、控制方法以及未知环境的定义方法，融合D~*Lite算法启发式和增量式的特点，应用于具有动态特性的未知环境的探索覆盖。通过仿真实验，与基于Dijskra算法的非凸覆盖算法相比，在已知环境下，算法覆盖率和冗余率分别达到97.98%和26.53%,未知环境下算法覆盖率和冗余率分别达到98.96%和30.01%,验证了基于D~*Lite的非凸覆盖算法在已知环境下和未知环境下的有效性和优越性。更多还原

【Abstract】 Aiming at the problem of multi-robot collaborative area coverage with limited sensing range under the non-convex area, the distance metric function, the control method, and the definition method of the unknown environment under the non-convex environment were redefined. The heuristic and incremental features of the D~*Lite algorithm were integrated and applied to explore the coverage of the unknown environment with dynamic characteristics. Comparing with the nonconvex coverage algorithm based on Dijskra’s algorithm, the algorithm coverage and redundancy rate reached 97.98% and 26.53% in known environments respectively, and the algorithm coverage and redundancy rate in unknown environments reached 98.96% and 30.01% respectively. The results show the effectiveness and superiority of D~*Lite-based nonconvex coverage algorithm in known and unknown environments.更多还原