Cooperative Path Planning With Multiple Nodes Based On Mobile Ad-Hoc Network

As the basis of intelligent and automated robot,Path planning has always been a hotspot in the field of robotics.Complete coverage path planning(CCPP)technology is a special path planning technology of robotics,which requests robots to cover an appointed area completely.Complete coverage path planning technology is widely used in many real-world applications,like indoor and outdoor cleaning,lawn mowers,snowplow,sowing or harvesting corps,mining or mine clearance,underwater reconnaissance,etc.Many path planning algorithms have been proposed by researchers.However,most of them are focus on one mobile robot's path planning problems.In consideration of time and energy consumption,complete coverage path planning for multiple mobile robots in dynamic environment has been a new research direction.Firstly,this paper analyzes the superiority of grid map model by comparing with the several mainstream environment modeling and two coverage styles — zig-zag coverage style and internal spiral coverage(ISC)style that base on the grid map model,and discusses the robustness of zig-zag coverage style and ISC style,and discusses two region-link algorithms— backtracking points(BP)method and inverse distance transform(IDT)method.According to the above analysis,we focus on the IDT-ISC complete coverage algorithm which based on the grid map model.Secondly,we carry out the simulation of one network node IDT-ISC algorithm in an emulated platform which is based on the Baidu-Map API.The simulation result shows that the IDT-ISC algorithm works in complete coverage path planning problem.However,in this algorithm,node may go through obstacle in some environment,which is irrational obviously.Therefore,this paper proposes a modified IDT-ISC algorithm and the simulations show that the new algorithm will avoid the irrational situation.Then,on the basis of the one node IDT-ISC algorithm,this paper propose a multiple nodes IDT-ISC algorithm.And the simulations show that the multiple modes IDT-ISC algorithm can reduce the run time and the repeat covered rate.Existing CCPP algorithms rarely consider the effect of the communication cycle between the nodes,which is importantin multiple nodes CCPP mission,therefore,we analyzes the impact of the communication cycle on run time and the repeat covered rate by the simulation,and provided a proper communication cycle for the two environments that mentions in this paper.Finally,we simulates a burst error scene,and the simulations show that the proposed multiple nodes IDT-ISC algorithm can work just fine in this scene.