Computer Science ›› 2024, Vol. 51 ›› Issue (11A): 231200088-9.doi: 10.11896/jsjkx.231200088

• Network & Communication • Previous Articles     Next Articles

Dynamic Partition Patrol Strategy of Multi-robot Under Visitor Access Trend

MA Wenjie, LI Zonggang, DU Yajiang, CHEN Yinjuan   

  1. School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China
    Robotics Institute,Lanzhou Jiaotong University,Lanzhou 730070,China
  • Online:2024-11-16 Published:2024-11-13
  • About author:MA Wenjie,born in 1998,postgra-duate. His main research interests include multi-robot system cooperative control and so on.
    LI Zonggang,born in 1975,Ph.D,professor.His main research interests include intelligent bionic robot and multi-robot system cooperative control.
  • Supported by:
    National Natural Science Foundation of China(61663020),Gansu Province Higher Education Industry Support Plan Project (2022CYZC-33),Industrial Equipment Structure Analysis State Key Laboratory Open Project of DUT (ZG22119) and Military-civi-lian Integration Innovation Team Cultivation Fund of LJU(JMTD202211).

Abstract: To address the issue of increased patrol workload for robots in areas with high foreign visitor traffic,this paper proposes a multi-robot dynamic partitioning patrol strategy that takes into account visitor trends.This strategy aims to improve the efficiency of the multi-robot system in patrolling dynamic environments.Firstly,an improved k-means strategy is used to complete the static initialization score of the environment.Then,the robots perform patrolling tasks in their respective zones by adding the robots′ access frequency requirements at different locations.Secondly,when visitors enter the environment to visit different nodes,the robots focus on the visitors′ access trends,negotiate with neighboring partitioned robots,and then transfer the region candidate nodes through the neighbouring regions multiple times to balance the workload of the partitioning robots and complete the real-time dynamic partitioning of the region.The simulation results demonstrate that the robots can effectively detect visitors while maintaining dynamic workload balancing.Additionally,the proposed multi-robot dynamic zoning patrol strategy,under the visitor access trend,can significantly enhance the efficiency of multi-robot patrol in dynamic environments.

Key words: Node access frequency, Visitor trends, Dynamic partition, Multi-robot system, Continuous patrol

CLC Number: 

  • TP242
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