计算机工程与应用2023，Vol.59Issue(24)：319-327,9.DOI:10.3778/j.issn.1002-8331.2208-0246
立面维护作业的多机器人全覆盖路径规划
Complete Coverage Path Planning for Multiple Robots for Facade Maintenance Operations
摘要
Abstract
The current multi-robot complete coverage algorithm is aimed at the problems of uneven task distribution,inade-quate consideration of flexibility in the selection of robot starting and ending positions,single objective of algorithm solu-tion,and inflexible coverage of complex infeasible domain maps.Combined with a method for solving the multiple travel-ing salesman problems,the improved immune genetic algorithm is applied to multi-robot complete coverage path plan-ning for facade maintenance operations.The method utilizes a region decomposition method that relies on infeasible domain distribution to decompose the region to be covered into several sub-regions.Minimizing the maximum work duration and the total workload of multiple robots,an adaptation calculation method is designed based on the premise that the coverage task is equally divided using a dynamic equalization operator and considering the characteristics of arbitrary starting and ending positions of robots for facade maintenance operations.The global approximate optimal solution is also found by using a stepped clone selection operator combined with a dynamic programming algorithm.Then,the transposition opera-tor with heuristically superior chromosome fragments is used to speed up the convergence of the algorithm.Finally,the effectiveness and stability of the algorithm as well as the computational quality of the algorithm are verified through simu-lation and comparison experiments of complex maps.关键词
多机器人/全覆盖路径规划/旅行商问题/免疫遗传算法/多优化目标Key words
multiple robots/complete coverage path planning/traveling salesman problem/immune genetic algorithm/multi-optimization objectives分类
信息技术与安全科学引用本文复制引用
谢必成,张小俊..立面维护作业的多机器人全覆盖路径规划[J].计算机工程与应用,2023,59(24):319-327,9.基金项目
国家重点研发计划(2018YFB1309400) （2018YFB1309400）
河北省自然科学基金重点项目(E2018202338). （E2018202338）
