A Multirobot Cooperative Area Coverage Search Algorithm Based on Bioinspired Neural Network in Unknown Environments
This article proposes a novel approach based on a bioinspired neural network (BIN) for multirobot area coverage search in unknown environments. We obtain the dynamic environment information in the search process of the multirobot by combining the BIN model with the grid map. We, then, design a searc...
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| Published in | IEEE systems journal Vol. 17; no. 2; pp. 1995 - 2006 |
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| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.06.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1932-8184 1937-9234 |
| DOI | 10.1109/JSYST.2022.3198712 |
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| Abstract | This article proposes a novel approach based on a bioinspired neural network (BIN) for multirobot area coverage search in unknown environments. We obtain the dynamic environment information in the search process of the multirobot by combining the BIN model with the grid map. We, then, design a search objective function to guide robots to explore the task area by applying the distributed model prediction control policy. Moreover, we further improve the search efficiency through a collaborative decision-making mechanism among robots. Finally, we conduct simulation studies, which demonstrate the effectiveness and superiority of the proposed approach. |
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| AbstractList | This article proposes a novel approach based on a bioinspired neural network (BIN) for multirobot area coverage search in unknown environments. We obtain the dynamic environment information in the search process of the multirobot by combining the BIN model with the grid map. We, then, design a search objective function to guide robots to explore the task area by applying the distributed model prediction control policy. Moreover, we further improve the search efficiency through a collaborative decision-making mechanism among robots. Finally, we conduct simulation studies, which demonstrate the effectiveness and superiority of the proposed approach. |
| Author | Zhang, Fangfang Liu, Yanhong Yu, Hongnian Zhang, Wenli Chen, Bo |
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| SubjectTerms | Area coverage search bioinspired neural network (BIN) Collaboration Decision making Heuristic algorithms Multiple robots multirobot Neural networks Neurons Robot sensing systems Robots Search algorithms Search problems Search process Task analysis Unknown environments |
| Title | A Multirobot Cooperative Area Coverage Search Algorithm Based on Bioinspired Neural Network in Unknown Environments |
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