Proposed Multi-ST Model for Collaborating Multiple Robots in Dynamic Environments

Coverage path planning describes the process of finding an effective path robots can take to traverse a defined dynamic operating environment where there are static (fixed) and dynamic (mobile) obstacles that must be located and avoided in coverage path planning. However, most coverage path planning methods are limited in their ability to effectively manage the coordination of multiple robots operating in concert. In this paper, we propose a novel coverage path planning model (termed Multi-ST) which utilizes the spiral-spanning tree coverage algorithm with intelligent reasoning and knowledge-based methods to achieve optimal coverage, obstacle avoidance, and robot coordination. In experimental testing, we have evaluated the proposed model with a comparative analysis of alternative current approaches under the same conditions. The reported results show that the proposed model enables the avoidance of static and moving obstacles by multiple robots operating in concert in a dynamic operating environment. Moreover, the results demonstrate that the proposed model outperforms existing coverage path planning methods in terms of coverage quality, robustness, scalability, and efficiency. In this paper, the assumptions, limitations, and constraints applicable to this study are set out along with related challenges, open research questions, and proposed directions for future research. We posit that our proposed approach can provide an effective basis upon which multiple robots can operate in concert in a range of ‘real-world’ domains and systems where coverage path planning and the avoidance of static and dynamic obstacles encountered in completing tasks is a systemic requirement.