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JACIII Vol.27 No.6 pp. 1183-1191
doi: 10.20965/jaciii.2023.p1183
(2023)

Research Paper:

Multi-Robot Cooperative Multi-Area Coverage Based on Circular Coding Genetic Algorithm

Bin Xin*,**, Heng Wang*,†, and Ming Li***

*School of Automation, Beijing Institute of Technology
No.5 South Street, Zhongguancun, Haidian District, Beijing 100081, China

Corresponding author

**Key Laboratory of Intelligent Control and Decision of Complex Systems
No.5 South Street, Zhongguancun, Haidian District, Beijing 100081, China

***BIT Navigation and Control Technology Co., Ltd.
Beijing , China

Received:
March 18, 2023
Accepted:
August 4, 2023
Published:
November 20, 2023
Keywords:
cooperative area coverage, genetic algorithm, multiple robots, area allocation
Abstract

This paper studies the cooperative multi-area coverage problem with obstacles, which requires a group of robots to cover an area while avoiding collisions. This problem is very common in scenarios such as garbage removal, mine clearance, and regional information collection. The currently proposed algorithms usually have the problem of high redundancy and weak scene scalability. This paper designs a cooperative area coverage algorithm for multiple robots. First, a set of rules is proposed to divide the area to be covered into several small areas. Then, a genetic algorithm based on circular coding is designed to allocate these divided areas to several robots. Finally, the coverage path of the robot is designed using the zigzag method, so that the robot can cover the area allocated to it. Through computational experiments, it has been verified that this algorithm has efficiency advantages over state-of-the-art algorithms in certain scenarios and has scalability for different scenarios.

Cite this article as:
B. Xin, H. Wang, and M. Li, “Multi-Robot Cooperative Multi-Area Coverage Based on Circular Coding Genetic Algorithm,” J. Adv. Comput. Intell. Intell. Inform., Vol.27 No.6, pp. 1183-1191, 2023.
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Last updated on Feb. 19, 2024