To address the challenge of efficient coverage by multi-robot systems in non-convex regions with multiple obstacles, this paper proposes a coverage control method based on the Generalized Voronoi Graph (GVG), which has two phases: Load-Balancing Algorithm phase and Collaborative Coverage phase. In Load-Balancing Algorithm phase, the non-convex region is partitioned into multiple sub-regions based on GVG. Besides, a weighted load-balancing algorithm is developed, which considers the quality differences among sub-regions. By iteratively optimizing the robot allocation ratio, the number of robots in each sub-region is matched with the sub-region quality to achieve load balance. In Collaborative Coverage phase, each robot is controlled by a new controller to effectively coverage the region. The convergence of the method is proved and its performance is evaluated through simulations.

翻译：针对多障碍非凸区域中多机器人系统高效覆盖的挑战，本文提出了一种基于广义Voronoi图（GVG）的覆盖控制方法，该方法包含负载均衡算法阶段与协同覆盖阶段。在负载均衡算法阶段，基于GVG将非凸区域划分为多个子区域，并开发了一种考虑子区域质量差异的加权负载均衡算法。通过迭代优化机器人分配比例，使各子区域的机器人数量与其区域质量相匹配，从而实现负载均衡。在协同覆盖阶段，每个机器人由新型控制器驱动以实现区域的有效覆盖。本文证明了该方法的收敛性，并通过仿真实验评估了其性能。