Research on Non-convex Area Coverage Control Method of Multi-robot Based on D?Lite Algorithm
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 defini-tion 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.
multi-robot systemnon-convex area coveragenon-convex voronoicontrol law
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