A Multi-Robotic System for Environmental Dirt Cleaning
A Multi-Robotic System for Environmental Dirt Cleaning
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DOI：
10.1109/sii46433.2020.9026295
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发表时间：
2020-01
期刊：
影响因子：
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通讯作者：
C. Le;A. Pham;Hung M. La;David Feil-Seifer
中科院分区：
文献类型：
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作者：
C. Le;A. Pham;Hung M. La;David Feil-Seifer
工业环境通常有大量的废物，可能会对产品和工人造成有害影响，导致产品缺陷，眼睛发痒或慢性阻塞性肺病等。虽然可以使用自动清洁机器人，但环境通常太大，一个机器人无法单独清洁，而且它没有足够的存储污垢容量。我们提出了一种多机器人污垢清洁算法，用于协调多个iRobot-Creates作为一个团队来有效地清洁环境。通常情况下，由于环境中的一些空间是干净的，而另一些是肮脏的，我们的多机器人系统拥有一个路径规划算法，允许机器人团队通过增加真空电机功率在具有较高污垢水平的区域进行有效清洁。总体而言，我们的多机器人系统在时间效率方面优于单机器人系统，同时具有几乎相同的总电池使用量和清洁效率结果。项目源代码可以在我们的ARA实验室的github上获得：https://github.com/aralab-unr/multi-robot-cleaning
An industrial environment usually has a lot of waste that could cause harmful effects to both the products and the workers resulting in product defects, itchy eyes or chronic obstructive pulmonary disease, etc. While automatic cleaning robots could be used, the environment is often too large for one robot to clean alone in addition to the fact that it does not have adequate stored dirt capacity. We present a multi-robotic dirt cleaning algorithm for coordinating multiple iRobot-Creates as a team to efficiently clean an environment. Often, since some spaces in the environment are clean while others are dirty, our multi-robotic system possesses a path planning algorithm to allow the robot team to clean efficiently by increasing vacuum motor power on the area with higher dirt level. Overall, our multi-robotic system outperforms the single robot system in time efficiency while having almost the same total battery usage and cleaning efficiency result. The project source codes is available on our ARA lab’s github: https://github.com/aralab-unr/multi-robot-cleaning