Multi-robot path planning for persistent monitoring based on mode frequency optimization

Multi-robot systems have demonstrated significant advantages in various applications such as ground surveillance, environmental monitoring and patrolling of critical areas. However, in multi-robot collaboration, the periodicity of patrol paths can easily lead to leakage of patrol patterns. Therefore, it is particularly important to increase the randomness of robot patrol paths. To solve this problem, this study establishes a multi-robot path planning model based on the access period using the node mode frequency as an indicator to ensure the privacy and security of the path information during the patrol process. Through multiple simulations on the real road network, a highly secure multi-robot patrol path was successfully obtained. Compared with the genetic algorithm, the sparrow search algorithm is shown to have faster search speed and solution efficiency.