Integrating collision avoidance strategies into multi-robot task allocation for inspection

摘要

Recent research topics have been placed on reinforcing security and safety measures within high-risk industries to protect both equipment and the environment. Numerous industries carry substantial implications for their surroundings. During significant incidents like chemical spills, or nuclear accidents, swiftly gathering precise and dynamic data poses a considerable challenge. Subsequently, this paper focuses on optimizing a mission involving multiple mobile robots charged with inspecting an industrial zone. The aim of this research is to efficiently collect measurements from diverse positions using a fleet of sensing robots operating from a central depot, that is, developing an algorithm for robot decision-making that optimizes mission planning by minimizing an objective function. Initially, we explore our previous proposed solutions and we improve the system by integrating a navigational layer to manage collision avoidance between robots. Then, we delve into scenarios involving multiple homogeneous tasks distributed in a limited geographical environment. To demonstrate feasibility, extensive simulations, numerical experiments, and comparative analysis are conducted, showing the efficiency of the proposed approaches in terms of solution quality and computational complexity.