Data gathering tours for mobile robots
Data gathering tours for mobile robots
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DOI：
10.1109/iros.2009.5354343
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发表时间：
2009-10
期刊：
影响因子：
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通讯作者：
D. Bhadauria;Volkan Isler
中科院分区：
文献类型：
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作者：
D. Bhadauria;Volkan Isler
我们研究了当使用多个机器人从具有无线通信功能的固定设备收集数据时出现的路径规划问题。每个设备都有一个给定的通信范围，并存储固定数量的数据。机器人的目标是从这些设备中收集数据，并将其上传到基站/网关。我们引入了一个新的优化问题，称为数据收集问题（DGP）。在DGP中，目标是以最小化从所有设备收集数据的时间的方式计算每个机器人的行程。为了从设备下载数据，机器人必须访问设备通信范围内的一个点。然后，它花费固定的时间来下载数据。因此，完成一次旅行的时间不仅取决于旅行时间，还取决于下载数据的时间，以及沿途访问的设备数量。首先，我们研究了一种特殊的DGP情况，其中机器人的运动被限制在一条一端包含基站的曲线上。接下来，我们研究2D版本。我们表明，两个现有的算法的变体的旅行销售人员问题可以组合和适应，以获得一个常数因子近似的DGP。然后，我们提出了对稀疏部署的改进。我们还提出了模拟，阐明了使用移动机器人收集数据的效用。
We study a path planning problem which arises when multiple robots are used to gather data from stationary devices with wireless communication capabilities. Each device has a given communication range, and stores a fixed amount of data. The objective of the robots is to gather the data from these devices and to upload it to a base-station/gateway. We introduce a new optimization problem called the Data Gathering Problem (DGP). In DGP, the objective is to compute a tour for each robot in such a way that minimizes the time to collect data from all devices. In order to download the data from a device, a robot must visit a point within the communication range of the device. Then, it spends a fixed amount of time to download the data. Thus, the time to complete a tour depends on not only the travel time but also the time to download the data, and the number of devices visited along the tour. First, we study a special case of DGP where the robots' motion is restricted to a curve which contains the base station at one end. Next, we study the 2D version. We show that two existing algorithms for variants of the Traveling Salesperson Problem can be combined and adapted to obtain a constant factor approximation to DGP. Afterwards, we present an improvement for sparse deployments. We also present simulations which shed light on the utility of data gathering using mobile robots.