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Deployment of Mobile Robots With Energy and Timing Constraints

机译：部署具有能量和时间约束的移动机器人

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Mobile robots can be used in many applications, such as carpet cleaning, search and rescue, and exploration. Many studies have been devoted to the control, sensing, and communication of robots. However, the deployment of robots has not been fully addressed. The deployment problem is to determine the number of groups unloaded by a carrier, the number of robots in each group, and the initial locations of those robots. This paper investigates robot deployment for coverage tasks. Both timing and energy constraints are considered; the robots carry limited energy and need to finish the tasks before deadlines. We build power models for mobile robots and calculate the robots' power consumption at different speeds. A speed-management method is proposed to decide the traveling speeds to maximize the traveling distance under both energy and timing constraints. Our method uses rectangle scanlines as the coverage routes, and solves the deployment problem using fewer robots. Finally, we provide an approach to consider areas with random obstacles. Compared with two simple heuristics, our solution uses 36% fewer robots for open areas and 32% fewer robots for areas with obstacles.
机译：移动机器人可用于许多应用，例如地毯清洁，搜索和救援以及勘探。许多研究致力于机器人的控制，感测和通信。但是，机器人的部署尚未完全解决。部署问题是确定由承运商卸载的组的数量，每个组中的机器人数量以及这些机器人的初始位置。本文研究了用于覆盖任务的机器人部署。同时考虑了时间和能量约束；机器人的能量有限，需要在截止日期之前完成任务。我们为移动机器人构建功率模型，并计算不同速度下机器人的功耗。提出了一种速度管理方法来决定行进速度，以在能量和时序约束下最大化行进距离。我们的方法使用矩形扫描线作为覆盖路线，并使用更少的机器人解决了部署问题。最后，我们提供一种考虑随机障碍物区域的方法。与两种简单的启发式算法相比，我们的解决方案在开放区域使用的机器人减少了36％，在有障碍区域的机器人减少了32％。

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