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Algorithm Research & Explore
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1470-1479

Distributed patrol algorithm for multi-robot systems based on discrete-time consensus theory

Zhang Pengchaoa,b
Li Zongganga,b
a. School of Mechanical Engineering, b. Robotics Institute, Lanzhou Jiaotong University, Lanzhou 730070, China

Abstract

In the multi-robot patrol task, it is difficult for a single robot to obtain global information due to the limitation of the communication distance. However, most existing multi-robot distributed patrol algorithms require each robot to obtain global information of its patrol area for decision-making. Therefore, this paper addressed on the communication radius constrain and the local information constrain to completes patrol tasks through the interaction between neighbor robots, and proposed two solution algorithms based on discrete-time consensus theory. Algorithm 1 used global information for decision-making. Algorithm 2 used discrete-time consensus theory to predict and make decisions based on local information. Through the simulator Stage, the proposed algorithm and the comparison algorithm were simulated and compared under different robot numbers, communication radii and map environments. The simulation verifies that the proposed fully distributed multi-robot patrol algorithm based on local information has similar characteristics and performance to the original algorithm, enabling robots to judge the global state without global information and complete patrol tasks based on the negotiation between neighbors.

Foundation Support

国家自然科学基金资助项目(61663020)
甘肃省高等学校产业支撑计划项目(2022CYZC-33)
大连理工大学工业装备结构分析国家重点实验室开放课题(ZG22119)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.08.0421
Publish at: Application Research of Computers Printed Article, Vol. 41, 2024 No. 5
Section: Algorithm Research & Explore
Pages: 1470-1479
Serial Number: 1001-3695(2024)05-027-1470-10

Publish History

[2024-01-11] Accepted Paper
[2024-05-05] Printed Article

Cite This Article

张鹏超, 李宗刚. 一种基于离散时间一致性理论的多机器人分布式巡逻算法 [J]. 计算机应用研究, 2024, 41 (5): 1470-1479. (Zhang Pengchao, Li Zonggang. Distributed patrol algorithm for multi-robot systems based on discrete-time consensus theory [J]. Application Research of Computers, 2024, 41 (5): 1470-1479. )

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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