Multi-robots simultaneously coverage and tracking (SCAT) is the problem of simultaneously covering area and tracking targets, which is essential for many applications, such as delivery service, environment monitor, traffic surveillance, crime monitor, anti-terrorist mission and so on. The purpose of this paper is to improve the performance of detected target quantity, coverage rate and less deadweight loss by designing a self-organized method for multi-robots SCAT.
A self-organized reciprocal control method is proposed, coupling task assignment, tracking and covering, equipped with collision-avoiding ability naturally. First, SCAT problem is directly modeled as optimal reciprocal coverage velocity (ORCV) in velocity space. Second, the preferred velocity is generated by calculating the best velocity to the center of some robot detected targets. ORCV is given by adjusting the velocity relative to neighbor robots’ toward in optimal coverage velocity (OCV); it is proven that OCV is collision-free assembly. Third, some corresponding algorithms are designed for finding optimal velocity under two situations, such as no detected targets and empty ORCV.
The simulation results of two cases for security robots show that the proposed method has detected more targets with less deadweight loss and decision time and no collisions anytime.
In this paper, a self-organized reciprocal control method is proposed for multi-robots SCAT problem, which is modeled in velocity space directly, different to the traditional method modeling in configuration space. What is more, this method considers the reciprocal of robots that contributes to the better accomplishment of SCAT cooperatively.
