期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 28, 期 5, 页码 1181-1188出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2012.2201293
关键词
Autonomous agents; distributed robot systems; path planning for multiple mobile robot systems; search and rescue robots; surveillance systems
类别
资金
- National Science Foundation [IIS-0904501, CPS-1035917]
- Army Research Office [W911NF-11-1-0092]
- Direct For Computer & Info Scie & Enginr
- Division Of Computer and Network Systems [1035917] Funding Source: National Science Foundation
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [0904501] Funding Source: National Science Foundation
This paper focuses on the problem of patrolling an environment with a team of autonomous agents. Given a set of strategically important locations (viewpoints) with different priorities, our patrolling strategy consists of 1) constructing a tour through the viewpoints, and 2) driving the robots along the tour in a coordinated way. As performance criteria, we consider the weighted refresh time, i.e., the longest time interval between any two visits of a viewpoint, weighted by the viewpoint's priority. We consider the design of both optimal trajectories and distributed control laws for the robots to converge to optimal trajectories. First, we propose a patrolling strategy and we characterize its performance as a function of the environment and the viewpoints priorities. Second, we restrict our attention to the problem of patrolling a nonintersecting tour, and we describe a team trajectory with minimum weighted refresh time. Third, for the tour patrolling problem and for two distinct communication scenarios, namely the Passing and the Neighbor-Broadcast communication models, we develop distributed algorithms to steer the robots toward a minimum weighted refresh time team trajectory. Finally, we show the effectiveness and robustness of our control algorithms via simulations and experiments.
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