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首页> 外文期刊>Arabian Journal for Science and Engineering >Cooperative Robot Deployment: Simulation and Real Experimental Analysis
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Cooperative Robot Deployment: Simulation and Real Experimental Analysis

机译：协作机器人部署：仿真和真实实验分析

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摘要

Autonomous robot deployment is very attracting feature especially inside unknown area. Virtual force (VF) technique appears as one of the prominent approaches to performing multirobot deployment autonomously. However, most of the existing VF-based approaches lack purposeful deployment. In this work, we present a Cooperative Virtual Force Robot Deployment (COVER) technique. Our approach modifies the original VF approach to overcome this problem and considers the mission requirements such as the number of required robots in each locality (e.g., landmarks are distributed, and each needs a specific number of robots in its vicinity). In addition, COVER expedites the deployment process by establishing a cooperative relation between robots and neighboring landmarks. Extensive simulation experiments have been carried out to assess the performance of COVER along with Hungarian deployment method (a centralized approach), the basic virtual force, and full virtual force. A proof of concept experiment using TurtleBot robots is presented as well to show real implementation of COVER. The simulation and experiment results demonstrate the effectiveness of COVER for several performance factors such as total traveled distance, total exchanged messages, and total deployment time.
机译：自主机器人部署非常吸引人，特别是在未知区域内。虚拟力量（VF）技术似乎是自主执行多机器人部署的主要方法之一。但是，大多数现有的基于VF的方法都缺乏有目的的部署。在这项工作中，我们提出了一种协作式虚拟部队机器人部署（COVER）技术。我们的方法修改了原始的VF方法以解决此问题，并考虑了任务要求，例如每个位置所需的机器人数量（例如，地标已分布，并且每个机器人在其附近都需要特定数量的机器人）。此外，COVER通过在机器人和邻近地标之间建立协作关系来加快部署过程。已经进行了广泛的模拟实验，以评估COVER的性能，以及匈牙利的部署方法（集中式方法），基本虚拟力和完整虚拟力。还展示了使用TurtleBot机器人进行的概念验证实验，以展示COVER的实际实现。仿真和实验结果证明了COVER在几个性能因素上的有效性，例如总行驶距离，总交换消息和总部署时间。

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