Path planning method and system for collaborative coverage of swarm robots

The invention discloses a path planning method and system for collaborative coverage of swarm robots. A multi-target fuzzy comprehensive evaluation method is adopted, and the path direction change angle and the path divergence degree are comprehensively considered, so that the requirements of high coverage rate and low repetition rate of a planned path are met, the turning frequency is reduced, the path coherence is improved, and the robot tracking energy consumption is reduced. 本发明公开了一种群集机器人协同覆盖的路径规划方法及系统，采用多目标模糊综合评价方法，综合考虑路径方向变化角度和路径发散程度，既保证了规划路径的覆盖率高、重复率低要求，又减少了转弯次数，提高路径连贯性，降低了机器人跟踪能耗。