Author(s)

Shule Hou, Zijian Wang, Xiang Xu

Corresponding Author

Shule Hou

ABSTRACT

Coverage control is one of the fundamental research fields in the study of the Multi-Robot System. The majority of coverage control algorithms aims at improving the efficiency of robots in exploring the environment while minimizing the information loss rate. This paper presents a control algorithm based on the Voronoi diagram for a distributed multi-robot system. Our method is based on Voronoi diagrams, which consists of polygons bounded by vertical bisectors in the plane. Our method can generate the optimal deployment location and optimal task space for each robot in the team by applying Lloyd’s algorithm to find the centroid of polygons and get the Centroidal Voronoi Partitions. We also verify our method by combining the open-source Lloyd’s Algorithm simulations with the distributed multi-robot system in a non-convex environment.

KEYWORDS

Coverage control, Voronoi-based methods, Lloyd’s algorithm, multi-robot system