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.
Virtual-Pheromone-Aware Path Planning for Collaborative Patrolling on Road Networks
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
2025-03-08
10 pages
Article/Chapter (Book)
Electronic Resource
English
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