Multi-robot Dubins Coverage with Autonomous Surface Vehicles
Multi-robot Dubins Coverage with Autonomous Surface Vehicles
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DOI：
10.1109/icra.2018.8460661
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发表时间：
2018-05
期刊：
影响因子：
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通讯作者：
N. Karapetyan;Jason Moulton;Jeremy S. Lewis;Alberto Quattrini Li;J. O’Kane;Ioannis M. Rekleitis
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文献类型：
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作者：
N. Karapetyan;Jason Moulton;Jeremy S. Lewis;Alberto Quattrini Li;J. O’Kane;Ioannis M. Rekleitis
在大规模覆盖作业中，比如海洋勘探或空中监测，单机器人方法并不理想，因为它们可能需要太长时间来覆盖大面积区域。在这种情况下，多机器人方法更可取。此外，一些现实世界中的交通工具是非完整约束的，但可以使用杜宾斯车辆运动学进行建模。本文重点关注使用自主水面航行器（ASV）对水生环境进行环境监测。特别是，我们提出了一种新颖的方法，用于解决由杜宾斯车辆组成的多机器人团队对已知环境的完全覆盖问题。值得注意的是，多机器人覆盖和杜宾斯车辆覆盖都是NP完全问题。因此，我们基于旅行商问题的一种变体——k - TSP公式和聚类算法提出了两种启发式方法，有效地解决了该问题。所提出的方法既在模拟中进行了测试以评估其可扩展性，又通过一组在200平方千米的湖泊上作业的自主水面航行器进行了测试，以确保其在现实世界中的适用性。
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable. Furthermore, several real world vehicles are non-holonomic, but can be modeled using Dubins vehicle kinematics. This paper focuses on environmental monitoring of aquatic environments using Autonomous Surface Vehicles (ASVs). In particular, we propose a novel approach for solving the problem of complete coverage of a known environment by a multi-robot team consisting of Dubins vehicles. It is worth noting that both multi-robot coverage and Dubins vehicle coverage are NP-complete problems. As such, we present two heuristics methods based on a variant of the traveling salesman problem-k-TSP-formulation and clustering algorithms that efficiently solve the problem. The proposed methods are tested both in simulations to assess their scalability and with a team of ASVs operating on a 200 km2 lake to ensure their applicability in real world.