Effective control for wireless sensor and mobile actuator network in regulation of environmental density function

Mu Tai Lin, Yen Chen Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes an environmental regulating system by using a multi-robot system in cooperation with wireless sensor networks. Wireless sensors pre-deployed in the environment and embedded in mobile robots can gather sensory information to estimate the distribution of environmental variable. The environment distribution is illustrated by a density function which is constructed by Gaussian mixture model based on Expectation Maximization (EM) algorithm to estimate real condition. Subsequently, a gradient decent coverage control is proposed to drive the multi-robot system to cover the optimal distribution based on the estimated density function. Meanwhile, the actuators embedded on mobile robots are designed to regulate the environment to achieve a desired value of density function. Numerical examples are illustrated to show the performance of the proposed control system.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1190-1195
Number of pages6
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 2018 Aug 30
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 2018 Jul 92018 Jul 12

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2018-July

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period18-07-0918-07-12

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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