1 Introduction Reservoir architecture analysis of distributary channel of Daqing oilfield has drawn consistent interest among development geologists and petroleum engineers over the last decade(Lv et al.,1999;Zhou et ...1 Introduction Reservoir architecture analysis of distributary channel of Daqing oilfield has drawn consistent interest among development geologists and petroleum engineers over the last decade(Lv et al.,1999;Zhou et al.,2008;Zhang et展开更多
A common assumption of coverage path planning research is a static environment.Such environments require only a single visit to each area to achieve coverage.However,some real-world environments are characterised by t...A common assumption of coverage path planning research is a static environment.Such environments require only a single visit to each area to achieve coverage.However,some real-world environments are characterised by the presence of unexpected,dynamic obstacles.They require areas to be revisited periodically to maintain an accurate coverage map,as well as reactive obstacle avoidance.This paper proposes a novel swarmbased control algorithm for multi-robot exploration and repeated coverage in environments with unknown,dynamic obstacles.The algorithm combines two elements:frontier-led swarming for driving exploration by a group of robots,and pheromone-based stigmergy for controlling repeated coverage while avoiding obstacles.We tested the performance of our approach on heterogeneous and homogeneous groups of mobile robots in different environments.We measure both repeated coverage performance and obstacle avoidance ability.Through a series of comparison experiments,we demonstrate that our proposed strategy has superior performance to recently presented multi-robot repeated coverage methodologies.展开更多
基金funding support of this project from National Science and Technology Major Project of the Ministry of Science and Technology of China (Grant No. 2011ZX05010-002-005)
文摘1 Introduction Reservoir architecture analysis of distributary channel of Daqing oilfield has drawn consistent interest among development geologists and petroleum engineers over the last decade(Lv et al.,1999;Zhou et al.,2008;Zhang et
基金supported by the DEFENCE SCIENCE&TECHNOLOGY GROUP(DSTG)(9729)The Commonwealth of Australia supported this research through a Defence Science Partnerships agreement with the Australian Defence Science and Technology Group。
文摘A common assumption of coverage path planning research is a static environment.Such environments require only a single visit to each area to achieve coverage.However,some real-world environments are characterised by the presence of unexpected,dynamic obstacles.They require areas to be revisited periodically to maintain an accurate coverage map,as well as reactive obstacle avoidance.This paper proposes a novel swarmbased control algorithm for multi-robot exploration and repeated coverage in environments with unknown,dynamic obstacles.The algorithm combines two elements:frontier-led swarming for driving exploration by a group of robots,and pheromone-based stigmergy for controlling repeated coverage while avoiding obstacles.We tested the performance of our approach on heterogeneous and homogeneous groups of mobile robots in different environments.We measure both repeated coverage performance and obstacle avoidance ability.Through a series of comparison experiments,we demonstrate that our proposed strategy has superior performance to recently presented multi-robot repeated coverage methodologies.
