Distributed Cooperative Complete Coverage Path Planning in an Unknown Environment Based on a Heuristic Method

被引：7

作者：

Dong, Qichen ^{[1
,2
]}

Zhang, Jia ^{[1
,2
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

[2] Natl Key Lab Autonomous Intelligent Unmanned Syst, Beijing 100081, Peoples R China

来源：

UNMANNED SYSTEMS | 2024年 / 12卷 / 01期

关键词：

Complete coverage path planning (CCPP); distributed algorithm; multi-unmanned aerial vehicle (UAV) system; AnyLogic; simulation; UNMANNED AERIAL VEHICLES; COLLISION-AVOIDANCE; UAVS; ALGORITHMS; ENERGY; AREAS;

D O I：

10.1142/S2301385024500109

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a distributed collaborative complete coverage path planning (CCPP) algorithm based on a heuristic method to solve a CCPP problem for multiple agents in an unknown environment. Based on the relationship between path length, energy consumption and number of turns, the algorithm instructs the agents to autonomously plan their respective paths in real time by giving the priority of directions. Simulation experiments show that the proposed CCPP algorithm can guarantee efficient collision-free complete coverage compared with related approaches.

引用

页码：149 / 160

页数：12

共 45 条

[1] Path planning for robotic demining: Robust sensor-based coverage of unstructured environments and probabilistic methods [J].