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System Development & Application
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 2
510-514

Distributed multi-robot patrolling strategy based on importance of nodes

Huo Yaoyan1a,1b
Li Zonggang1a,1b
Gao Pu1b,2
1. a. School of Mechanical Engineering, b. Robotics Institute, Lanzhou Jiaotong University, Lanzhou 730070, China
2. Lanzhou Petrochemical College of Vocational Technology, Lanzhou 730060, China
DOI: 10.19734/j.issn.1001-3695.2021.06.0301

Abstract

Considering that in the multi-robot patrol task, it is a common phenomenon that the importance of the nodes to be visited is different. In view of the fact that most patrolling algorithms don't consider the difference in the importance of nodes, the idle time of all nodes tends to be the same, resulting in important nodes access frequency ordinary nodes and excessive access problems. This paper proposed a distributed patrolling strategy based on nodes' importance to optimize node access frequency and reduce the global average idle time. The robot calculated the idle time and importance of surrounding nodes, online decided the target node, estimated the time of reaching the target node, and informed nearby companions of the target node and estimated time of arrival. It increased the importance of the edge node in order to prevent some nodes from being over-visited, when the access frequency of the edge node was lower than the minimum access frequency, so that the robot could visit the node as soon as possible. Finally, this paper analyzed the influence of factors on the completion of continuous patrolling tasks of robots through simulation on the number of robots, changing environment, the importance of nodes and other factors. The results show that the number of visits to the most important nodes has increased significantly. Moreover, under the premise of the same patrolling environment and number of robots, the algorithm has fewer outliers and smaller average idle time, and the performance of multi-robot continuous patrolling is better.

Foundation Support

国家自然科学基金资助项目(61663020)
甘肃省高等学校科研项目成果转化资助项目(2018D-10)
兰州交通大学“百人计划”资助项目(1520220305)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.06.0301
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 2
Section: System Development & Application
Pages: 510-514
Serial Number: 1001-3695(2022)02-031-0510-05

Publish History

[2021-10-18] Accepted Paper
[2022-02-05] Printed Article

Cite This Article

霍耀彦, 李宗刚, 高溥. 基于节点重要度的多机器人分布式巡逻策略 [J]. 计算机应用研究, 2022, 39 (2): 510-514. (Huo Yaoyan, Li Zonggang, Gao Pu. Distributed multi-robot patrolling strategy based on importance of nodes [J]. Application Research of Computers, 2022, 39 (2): 510-514. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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