Neural-Dynamics-Driven Complete Area Coverage Navigation Through Cooperation of Multiple Mobile Robots

Multiple robots collaboratively achieve a common coverage goal efficiently, which can improve work capacity, share coverage tasks, and reduce completion time. In this paper, a neural dynamics (ND) approach is proposed for complete area coverage navigation by multiple robots. A bioinspired neural net...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2017-01, Vol.64 (1), p.750-760
Main Authors: Chaomin Luo, Yang, Simon X., Xinde Li, Meng, Max Q.-H
Format: Article
Language:English
Subjects:
Algorithms
Biological neural networks
Biomimetics
Complete area coverage (CAC)
Completion time
cooperative coverage
Heuristic algorithms
Mathematical model
Moving obstacles
Multiple robots
Navigation
neural dynamics (ND)
Neural networks
Neurons
Robot sensing systems
Robots
Work capacity
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Summary:Multiple robots collaboratively achieve a common coverage goal efficiently, which can improve work capacity, share coverage tasks, and reduce completion time. In this paper, a neural dynamics (ND) approach is proposed for complete area coverage navigation by multiple robots. A bioinspired neural network (NN) is designed to model the workspace and guide a swarm of robots for the coverage mission. The dynamics of each neuron in the topologically organized NN is characterized by an ND equation. Each mobile robot regards other robots as moving obstacles. Each robot path is autonomously generated from the neural activity landscape of the NN and the previous robot position. The proposed model algorithm is computationally efficient. The feasibility is validated by simulation, comparison studies, and experiments.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2016.2609838