Research and realization on multi-robot parking mission strategy

Aiming at the complexity and unknown of the modern robot-team parking mission environment, we proposed the maximal obsidional uniform distribution principle, the first nearest parking-point was enclosed by another parking-point according to uniform distribution. Based on it, we used the “Hungary Method” to realize the shortest total path length parking strategy. It was to form a benefit matrix which was composed of each the outside path length of the inclosing circle from robots to parking points, and then the best assignment was obtained by using “Hungary Method”. In this paper, it’s also considered two parking assignment strategies, which were shortest system executing time strategy and scope of inclosing circle seeable view strategy. The experiment result is shown that the robot-team can complete the reconnaissance parking mission efficiently. Additionally, the real-time performance is also fine.