Persistent Surveillance Method of Multiple Mobile Robots Based on Pheromone Positive Incentive Mechanism

This paper focuses on the persistent surveillance method of multiple mobile robots. Firstly, the existing calculation method of grid element value is improved by using pheromone. Then, aiming at two problems brought by the traditional persistent surveillance method: (1) when the initial positions of multiple robots are close to each other, they are easy to concentrate in a local area-this paper adjusts the weighting parameters ω
1
, good results are obtained; (2) sometimes, different robots are allocated to the same target point at the same time-this paper uses the method of allocating suboptimal target points and random allocation to improve this phenomenon, and compares the effects of suboptimal allocation and random allocation. The results show that suboptimal allocation is better than random allocation.