arXiv Open Access 2023

A Multi-robot Coverage Path Planning Algorithm Based on Improved DARP Algorithm

Yufan Huang Man Li Tao Zhao

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Abstrak

The research on multi-robot coverage path planning (CPP) has been attracting more and more attention. In order to achieve efficient coverage, this paper proposes an improved DARP coverage algorithm. The improved DARP algorithm based on A* algorithm is used to assign tasks to robots and then combined with STC algorithm based on Up-First algorithm to achieve full coverage of the task area. Compared with the initial DARP algorithm, this algorithm has higher efficiency and higher coverage rate.

Topik & Kata Kunci

cs.RO

Penulis (3)

Yufan Huang

Man Li

Tao Zhao

Format Sitasi

APA MLA BibTeX

Huang, Y., Li, M., Zhao, T. (2023). A Multi-robot Coverage Path Planning Algorithm Based on Improved DARP Algorithm. https://arxiv.org/abs/2304.09741

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Informasi Jurnal

Tahun Terbit: 2023
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓