A Multi-Robot Coverage Path Planning Method Based On Genetic Algorithm

Abstract

Multi-robot coverage path planning has important application values, while there are few research achievements. The difficulty lies in is how to allocate tasks reasonably. This paper proposes an offline algorithm based on GA, considering the efficiency of completing tasks and energy consumption. Before allocating the coverage tasks, the path planning is decomposed into two processes: map decomposition and optimization of task allocation. Compared with some current research results, there are three main advantages: 1) Robust of robots information and map information;2) It overcomes the topological relationship which is difficult to consider in the application of GA;3) Complete coverage capability.