1. 多机器人从正六边形区域在线撤离算法研究.
- Author
-
张 妍, 魏 琦, 刘 銮, 孙 洁, and 张文馨
- Subjects
- *
ONLINE algorithms , *WIRELESS communications , *MOBILE robots , *COMPUTATIONAL geometry , *HEXAGONS , *TRIANGLES , *CIRCLE - Abstract
Aiming at multi-robot online evacuation from unknown polygon, this paper proposed the problem of multirobot online evacuation from a regular hexagon based on the original evacuation model(triangle, square, circle). 2 k( k≥1) robots with wireless communication start from the same starting point, search for the exit on the regular hexagon boundary cooperatively and evacuate. The evacuation cost is the time it takes for all robots to be evacuated from the exit. This paper analyzed the efficiency of the algorithm using evacuation overhead. According to the number of robots and the initial position, when k=1, robots are initially at the regular hexagonal boundary or inside; when k>1, robots are initially at the regular hexagon boundary. This paper proposed respectively efficient online algorithms of multirobot evacuation for the above situations. It proves that increasing the number of robots has a positive significance in reducing the algorithm overhead when the starting point of the robots is the same. [ABSTRACT FROM AUTHOR]
- Published
- 2022
- Full Text
- View/download PDF