Multi-robot path planning for persistent monitoring based on mode frequency optimization

Multi-robot systems have demonstrated significant advantages in various applications such as ground surveillance, environmental monitoring and patrolling of critical areas. However, in multi-robot collaboration, the periodicity of patrol paths can easily lead to leakage of patrol patterns. Therefore...

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Bibliographic Details
Published in2024 36th Chinese Control and Decision Conference (CCDC) pp. 1838 - 1843
Main Authors Liu, Wuxiao, Chen, Yang
Format Conference Proceeding
LanguageEnglish
Published IEEE 25.05.2024
Subjects
Collaboration
Mathematical models
multi-robot
Path planning
path randomness
persistent monitoring
Privacy
Resource management
Roads
Sparrow Search Algorithm
Urban areas
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Summary:Multi-robot systems have demonstrated significant advantages in various applications such as ground surveillance, environmental monitoring and patrolling of critical areas. However, in multi-robot collaboration, the periodicity of patrol paths can easily lead to leakage of patrol patterns. Therefore, it is particularly important to increase the randomness of robot patrol paths. To solve this problem, this study establishes a multi-robot path planning model based on the access period using the node mode frequency as an indicator to ensure the privacy and security of the path information during the patrol process. Through multiple simulations on the real road network, a highly secure multi-robot patrol path was successfully obtained. Compared with the genetic algorithm, the sparrow search algorithm is shown to have faster search speed and solution efficiency.
ISSN:1948-9447
DOI:10.1109/CCDC62350.2024.10587800