A multi-robot patrol strategy for any security degree environment monitoring

摘要

Multi-robot system has become the hot issue in the last decades because of its efficiency, robustness, scalability and global optimality. This work proposes a multi-robot patrol strategy for environment monitoring. First, we propose the function of patrol nodes generating under the circumstances of known probability distribution of emergency. Then we put forward the hierarchy immune clustering algorithm to divide interested patrol nodes to each robot and finally produce the patrol strategy. Thus multi-robot patrol system can be suitable for any needs of security degree with balance of cost and benefit, and detect emergency with the maximal probability. The proposed solutions are verified through simulations and show satisfied performance.