Multiple Unmanned Ground Vehicles Coverage Path Planning in Non-Cooperative Environments

This paper mainly studies the coverage path planning problem of multiple unmanned ground vehicles (UGVs) in non-cooperative environments. Compared to ideal cooperative environments, external uncertain dynamic disturbances may affect the stability of the coverage task execution in non-cooperative environments. The wave-front algorithm is mainly used to perform coverage path planning. The paper improves the problem of wave-front algorithms falling into dead corners by designing a new coverage direction strategy and designs an algorithm framework to improve system openness and adaptability. Besides, the algorithm framework makes it suitable for non-cooperative environments with dynamic window approach (DWA). Experimental results show that the proposed improved wave-front algorithm has optimized the coverage priority, and the planned coverage path has higher efficiency and robustness than traditional wave-front algorithms.