The key to the multi-robot patrolling problem lies in the effective decision-making of the robots in path planning, which requires the design of autonomous and real-time collaborative strategies to improve the overall patrolling efficiency. To this end, a bio-inspired collaborative strategy using virtual pheromones for online sense decision-making is proposed in this paper. A virtual pheromone diffusion aggregation model is proposed to realize global state estimation for robots based on finite perception, taking into account the constraints of the robot’s communication connectivity, perception space and road network structure. A pheromone field is constructed and different semantic pheromones are fused to design the decision function. The simulation results show that the algorithm is able to effectively plan the patrol path in the face of different patrol demands in complex road network topology, and exhibits a better collaborative patrol effect.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Virtual-Pheromone-Aware Path Planning for Collaborative Patrolling on Road Networks


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Deng, Yimin (Herausgeber:in) / Zhang, Yan (Autor:in) / Huang, Panfeng (Autor:in) / Zhang, Fan (Autor:in)

    Kongress:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Erscheinungsdatum :

    08.03.2025


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Optimal Path Planning for UAV Patrolling in Forest Fire Prevention

    Zhou, Junzhong / Zhang, Wei / Zhang, Yizhe et al. | Springer Verlag | 2019


    Optimal Path Planning for UAV Patrolling in Forest Fire Prevention

    Zhou, Junzhong / Zhang, Wei / Zhang, Yizhe et al. | British Library Conference Proceedings | 2019


    Collaborative Patrolling Swarms in Stochastically Expanding Environments

    Altshuler, Yaniv / Pentland, Alex / Bruckstein, Alfred M. | Springer Verlag | 2017


    PATROLLING VOLLEY

    GONCHAROV IGOR NIKOLAEVICH / PURTOV PETR YAKOVLEVICH / KOREPANOV GEORGIJ NIKOLAEVICH et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    Night Patrolling Robot

    Prarit Vishnoi / Aayushi Ojha / Mohd. Yasir Siddique et al. | BASE | 2021

    Freier Zugriff