Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 64, Issue 1, Pages 750-760Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2016.2609838
Keywords
Complete area coverage (CAC); cooperative coverage; multiple robots; navigation; neural dynamics (ND)
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Funding
- University of Detroit Mercy
- National Natural Science Foundation of China [61175091, 61573097]
- Qing Lan Project and Six Major Top-talent Plan
- Priority Academic Program Development of Jiangsu Higher Education Institutions
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Multiple robots collaboratively achieve a common coverage goal efficiently, which can improve work capacity, share coverage tasks, and reduce completion time. In this paper, a neural dynamics (ND) approach is proposed for complete area coverage navigation by multiple robots. A bioinspired neural network (NN) is designed to model the workspace and guide a swarm of robots for the coverage mission. The dynamics of each neuron in the topologically organized NN is characterized by an ND equation. Each mobile robot regards other robots as moving obstacles. Each robot path is autonomously generated from the neural activity landscape of the NN and the previous robot position. The proposed model algorithm is computationally efficient. The feasibility is validated by simulation, comparison studies, and experiments.
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