The Coverage Control Of Heterogeneous Multi-Robots System

Compared with single robot,multi-robots system is more widely used because of its high efficiency,strong robustness and stable performance.As an important branch of mobile multi-robot applications,multi robot coverage control has been made great progress in recent years.It has a wide application prospect in the field of environmental monitoring,space exploration,disaster rescue and other related areas.The main task of this paper is to complete the static coverage of two classes of robots within the target area of a known environment.An improved distributed coverage algorithm is adopted in this paper.Considering the heterogeneity of the robots,the improved algorithm uses the multiplicatively weighted Voronoi diagram instead of the Voronoi diagram to partition the target area in the beginning stages of coverage task,which is different from the classical distributed coverage algorithm.Based on the improved algorithm,the mobile robot moves to the center of each region can converge to the optimal perception distribution when the environmental information is known.The kinematics model of two classes of robots is established,and the kinematic characteristics of the two heterogeneous robots are analyzed.Based on the model and the characteristics,the control laws of the two robots are designed:the differential mobile robot is using directly control,and the Car-like robot is using backstepping control method.The system software is designed under ROS frame with C language for achieving precise control of single robot.On the basis of the single robot experiment and the improved distributed control algorithm,the distributed coverage strategy of the multi robot system is designed,and the information interaction between robots is realized by wireless network.At the end of this paper,the algorithm is simulated.The experiment area is selected and the distributed coverage of the heterogeneous multi robot system is realized by the experiment.The simulation and experiment verifies the validity and reliability of the algorithm.