Multiple Unmanned Ground Vehicles Coverage Path Planning in Non-Cooperative Environments

Miao Wang; Shuo Han; Cong Xue; Xiangyu Shao

doi:10.1109/ICUS58632.2023.10318263

Multiple Unmanned Ground Vehicles Coverage Path Planning in Non-Cooperative Environments

Miao Wang
, Shuo Han
, Cong Xue
, Xiangyu Shao^*

^*Corresponding author for this work

School of Astronautics, Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper mainly studies the coverage path planning problem of multiple unmanned ground vehicles (UGVs) in non-cooperative environments. Compared to ideal cooperative environments, external uncertain dynamic disturbances may affect the stability of the coverage task execution in non-cooperative environments. The wave-front algorithm is mainly used to perform coverage path planning. The paper improves the problem of wave-front algorithms falling into dead corners by designing a new coverage direction strategy and designs an algorithm framework to improve system openness and adaptability. Besides, the algorithm framework makes it suitable for non-cooperative environments with dynamic window approach (DWA). Experimental results show that the proposed improved wave-front algorithm has optimized the coverage priority, and the planned coverage path has higher efficiency and robustness than traditional wave-front algorithms.

Original language	English
Title of host publication	Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Editors	Rong Song
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1381-1386
Number of pages	6
ISBN (Electronic)	9798350316308
DOIs	https://doi.org/10.1109/ICUS58632.2023.10318263
State	Published - 2023
Externally published	Yes
Event	2023 IEEE International Conference on Unmanned Systems, ICUS 2023 - Hefei, China Duration: 13 Oct 2023 → 15 Oct 2023

Publication series

Name	Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

Conference

Conference	2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Country/Territory	China
City	Hefei
Period	13/10/23 → 15/10/23

Keywords

coverage path planning
multi-UGV
non-cooperative environments
wave-front algorithm

Access to Document

10.1109/ICUS58632.2023.10318263

Cite this

Wang, M., Han, S., Xue, C., & Shao, X. (2023). Multiple Unmanned Ground Vehicles Coverage Path Planning in Non-Cooperative Environments. In R. Song (Ed.), Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023 (pp. 1381-1386). (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS58632.2023.10318263

Wang, Miao ; Han, Shuo ; Xue, Cong et al. / Multiple Unmanned Ground Vehicles Coverage Path Planning in Non-Cooperative Environments. Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. editor / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 1381-1386 (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023).

@inproceedings{18704c1fb6cb4cc18dc0f6b01dfac3ea,

title = "Multiple Unmanned Ground Vehicles Coverage Path Planning in Non-Cooperative Environments",

abstract = "This paper mainly studies the coverage path planning problem of multiple unmanned ground vehicles (UGVs) in non-cooperative environments. Compared to ideal cooperative environments, external uncertain dynamic disturbances may affect the stability of the coverage task execution in non-cooperative environments. The wave-front algorithm is mainly used to perform coverage path planning. The paper improves the problem of wave-front algorithms falling into dead corners by designing a new coverage direction strategy and designs an algorithm framework to improve system openness and adaptability. Besides, the algorithm framework makes it suitable for non-cooperative environments with dynamic window approach (DWA). Experimental results show that the proposed improved wave-front algorithm has optimized the coverage priority, and the planned coverage path has higher efficiency and robustness than traditional wave-front algorithms.",

keywords = "coverage path planning, multi-UGV, non-cooperative environments, wave-front algorithm",

author = "Miao Wang and Shuo Han and Cong Xue and Xiangyu Shao",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Unmanned Systems, ICUS 2023 ; Conference date: 13-10-2023 Through 15-10-2023",

year = "2023",

doi = "10.1109/ICUS58632.2023.10318263",

language = "英语",

series = "Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1381--1386",

editor = "Rong Song",

booktitle = "Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023",

address = "美国",

}

Wang, M, Han, S, Xue, C & Shao, X 2023, Multiple Unmanned Ground Vehicles Coverage Path Planning in Non-Cooperative Environments. in R Song (ed.), Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023, Institute of Electrical and Electronics Engineers Inc., pp. 1381-1386, 2023 IEEE International Conference on Unmanned Systems, ICUS 2023, Hefei, China, 13/10/23. https://doi.org/10.1109/ICUS58632.2023.10318263

Multiple Unmanned Ground Vehicles Coverage Path Planning in Non-Cooperative Environments. / Wang, Miao; Han, Shuo; Xue, Cong et al.
Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. ed. / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2023. p. 1381-1386 (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Multiple Unmanned Ground Vehicles Coverage Path Planning in Non-Cooperative Environments

AU - Wang, Miao

AU - Han, Shuo

AU - Xue, Cong

AU - Shao, Xiangyu

PY - 2023

Y1 - 2023

N2 - This paper mainly studies the coverage path planning problem of multiple unmanned ground vehicles (UGVs) in non-cooperative environments. Compared to ideal cooperative environments, external uncertain dynamic disturbances may affect the stability of the coverage task execution in non-cooperative environments. The wave-front algorithm is mainly used to perform coverage path planning. The paper improves the problem of wave-front algorithms falling into dead corners by designing a new coverage direction strategy and designs an algorithm framework to improve system openness and adaptability. Besides, the algorithm framework makes it suitable for non-cooperative environments with dynamic window approach (DWA). Experimental results show that the proposed improved wave-front algorithm has optimized the coverage priority, and the planned coverage path has higher efficiency and robustness than traditional wave-front algorithms.

AB - This paper mainly studies the coverage path planning problem of multiple unmanned ground vehicles (UGVs) in non-cooperative environments. Compared to ideal cooperative environments, external uncertain dynamic disturbances may affect the stability of the coverage task execution in non-cooperative environments. The wave-front algorithm is mainly used to perform coverage path planning. The paper improves the problem of wave-front algorithms falling into dead corners by designing a new coverage direction strategy and designs an algorithm framework to improve system openness and adaptability. Besides, the algorithm framework makes it suitable for non-cooperative environments with dynamic window approach (DWA). Experimental results show that the proposed improved wave-front algorithm has optimized the coverage priority, and the planned coverage path has higher efficiency and robustness than traditional wave-front algorithms.

KW - coverage path planning

KW - multi-UGV

KW - non-cooperative environments

KW - wave-front algorithm

UR - https://www.scopus.com/pages/publications/85180127350

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DO - 10.1109/ICUS58632.2023.10318263

M3 - 会议稿件

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T3 - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

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BT - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

A2 - Song, Rong

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 13 October 2023 through 15 October 2023

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Wang M, Han S, Xue C, Shao X. Multiple Unmanned Ground Vehicles Coverage Path Planning in Non-Cooperative Environments. In Song R, editor, Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 1381-1386. (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023). doi: 10.1109/ICUS58632.2023.10318263

Multiple Unmanned Ground Vehicles Coverage Path Planning in Non-Cooperative Environments

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