| 改进生成树算法的多机器人在线地图覆盖 |
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| 引用本文： | 陈泽涛,戴学丰. 改进生成树算法的多机器人在线地图覆盖[J]. 计算机工程与科学, 2016, 38(1): 95-101 |
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| 作者姓名： | 陈泽涛 戴学丰 |
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| 作者单位： | ;1.齐齐哈尔大学计算机与控制工程学院 |
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| 基金项目： | 黑龙江省自然科学基金（F201331） |
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| 摘 要： | 研究在线多机器人地图覆盖。在单机器人生成树STC算法基础上做出改进,融入了市场拍卖算法,使机器人团体扩散地生成树,并沿各自生成树完成地图覆盖。通过两种不同环境地图覆盖仿真,结果验证改进后的IMPSTC算法,能够使机器人团队在更少的时间和重复覆盖区域情况下完成在线覆盖地图任务。
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| 关 键 词： | 生成树 多机器人 覆盖 市场拍卖 |
| 收稿时间： | 2014-11-03 |
| 修稿时间： | 2016-01-25 |
An improved spanning tree covering algorithm for multi-robot online map coverage |
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| CHEN Ze tao,DAI Xue feng. An improved spanning tree covering algorithm for multi-robot online map coverage[J]. Computer Engineering & Science, 2016, 38(1): 95-101 |
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| Authors: | CHEN Ze tao DAI Xue feng |
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| Affiliation: | (College of Computer and Control Engineering,Qiqihar University,Qiqihar 161006,China) |
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| Abstract: | We discusses multi robot online map coverage. We introduce the market auction algorithm to improve the spanning tree covering algorithm of a single robot, make robot team diffuse a spanning tree and cover the map completely along their own spanning trees. Two simulation experiments are conducted and the results of two different environment map coverage show that the improved spanning tree covering algorithm can make the robot team accomplish online map coverage with less time and less repeated coverage. |
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| Keywords: | spanning tree multi robot coverage market auction, |
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