| Popis: |
This paper presents an innovative approach to optimize the trajectories of a robotic surveillance system, employing three different optimization methods: genetic algorithm (GA), particle swarm optimization (PSO), and pattern search (PS). The research addresses the challenge of efficiently planning routes for a LiDAR-equipped mobile robot to effectively cover target areas taking into account the capabilities and limitations of sensors and robots. The findings demonstrate the effectiveness of these trajectory optimization approaches, significantly improving detection efficiency and coverage of critical areas. Furthermore, it is observed that, among the three techniques, pattern search quickly obtains feasible solutions in environments with good initial trajectories. On the contrary, in cases where the initial trajectory is suboptimal or the environment is complex, PSO works better. For example, in the high complexity map evaluated, PSO achieves 86.7% spatial coverage, compared to 85% and 84% for PS and GA, respectively. On low- and medium-complexity maps, PS is 15.7 and 18 s faster in trajectory optimization than the second fastest algorithm, which is PSO in both cases. Furthermore, the fitness function of this proposal has been compared with that of previous works, obtaining better results. |
