Nội dung được dịch bởi AI, chỉ mang tính chất tham khảo
Khung làm việc cho việc bao phủ nút đa robot trong các mạng cảm biến
Tóm tắt
Chủ đề bao phủ khu vực là một vấn đề nổi bật trong lĩnh vực robot. Trong vài thập kỷ qua, đã có nhiều nghiên cứu liên quan đến vấn đề bao phủ cho robot đơn. Gần đây, cộng đồng nghiên cứu đã tập trung vào các phương pháp tính toán có xem xét nhiều robot cùng một lúc. Trong bài báo này, chúng tôi đề xuất một cách tiếp cận mới đối với vấn đề bao phủ đa robot. Đặc điểm mới của nghiên cứu này là việc giới thiệu một mạng cảm biến, hợp tác với đội ngũ robot nhằm cung cấp sự điều phối. Mạng cảm biến, với tính chất phân tán của nó, chịu trách nhiệm cho cả việc xây dựng lộ trình và hướng dẫn các robot. Việc bao phủ môi trường được đạt được bằng cách đảm bảo rằng các nút cảm biến có thể với tới bởi các robot. Hai thuật toán phân tán để xây dựng lộ trình đã được thảo luận. Thuật toán đầu tiên nhằm tăng tốc độ xây dựng thông qua cách tiếp cận đồng thời. Thuật toán thứ hai nhằm cung cấp một cấu trúc cơ bản cho các lộ trình bằng cách xây dựng một lộ trình Hamilton và sau đó phân chia nó. Một phân tích thống kê đã được thực hiện để chứng minh tính hiệu quả của các thuật toán được đề xuất. Cụ thể, ba chỉ số chất lượng khác nhau, đó là đầy đủ, công bằng và độ bền, đã được nghiên cứu.
Từ khóa
#bao phủ khu vực #robot đa #mạng cảm biến #thuật toán phân tán #lộ trình HamiltonTài liệu tham khảo
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