Navigation escape method for swarm robots under coverage of complex environment area

A complex environment and area coverage technology, applied in the field of navigation and escape, can solve problems such as deadlock and low coverage efficiency

Active Publication Date: 2022-03-25
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0005] In order to avoid the deficiencies of the existing technology, the present invention proposes a method for navigation and escape under the coverage of complex environment areas of swarm robots, which solves the problem of low coverage efficiency caused by swarm robots falling into deadlock when performing area coverage in an unknown complex environment under limited communication. question

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  • Navigation escape method for swarm robots under coverage of complex environment area
  • Navigation escape method for swarm robots under coverage of complex environment area
  • Navigation escape method for swarm robots under coverage of complex environment area

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Embodiment Construction

[0036] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0037] The invention proposes a navigation and escape mechanism suitable for unknown environments and with less calculation to make the robot escape from deadlock. When the robot falls into a deadlock in the process of area coverage, the optimal navigation point for the robot is found by introducing the cellular automaton mechanism, and the path planning is carried out by improving the BRRT* (Bidirectional Rapidly Extended Star) navigation algorithm to make the robot escape from the dead zone, thereby Realize the efficient coverage of complex environments by swarm robots, making it more applicable to actual environments.

[0038] In the process of area coverage, the present invention utilizes the size of the environmental stimulus to represent the coverage degree of the robot to the unknown environment, and uses the biologically stimulated neural network model to...

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Abstract

The invention relates to a navigation escape method under complex environment area coverage of a swarm robot, and aims to solve the problem of low coverage efficiency caused by deadlock when the swarm robot executes area coverage in an unknown complex environment under communication limitation. The invention provides a navigation escape mechanism which is suitable for an unknown environment and is smaller in calculated amount, so that the robot escapes from deadlock. When the robot is deadlocked in the area coverage process, an optimal navigation deadlock-out point of the robot is found by introducing a cellular automaton mechanism, and path planning is carried out by improving a BRRT * (bidirectional fast expansion star) navigation algorithm to enable the robot to escape from a dead area, so that efficient coverage of the swarm robot to a complex environment is realized.

Description

technical field [0001] The invention belongs to the field of swarm robot control, and relates to a navigation and escape method under the coverage of swarm robots complex environment area. Background technique [0002] Distributed swarm robot area coverage is to use large-scale robots to independently explore unknown areas quickly and efficiently, so as to obtain as complete map information as possible or to achieve a specific task. At present, heuristic algorithms are mostly used at home and abroad to solve the area coverage problem of swarm robots. Compared with random coverage, these methods have greatly improved their coverage efficiency. However, most of them can only achieve coverage of simple environments when communication is limited. , for an environment with complex obstacle distribution, the robot often falls into a deadlock during the coverage process, that is, the robot is trapped in a narrow area and cannot escape, resulting in a large number of repeated covera...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 刘明雍唐星能朱海牛云
Owner NORTHWESTERN POLYTECHNICAL UNIV
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