Dynamic coverage control for mobile robot network with limited and nonidentical sensory ranges

Wei Tao Li, Yen Chen Liu

研究成果: Conference contribution

12 引文 斯高帕斯(Scopus)

摘要

The coverage control problem for multiple mobile robot system with limited and dissimilar sensing abilities is addressed in this article. There exist missing areas while taking the previously developed r-limited Voronoi partitions due to distinct sensing ranges. Thus, a modified partitioning approach is proposed to enhance coverage performance. Furthermore, the dynamic coverage controllers are developed with time-varying density function so that the system is more applicable to various tasks such as target tracking or information decays. In addition to theoretical analysis, numerical examples and experiments with four mobile robots are conducted to verify stability and coverage performance of mobile robot network utilizing the proposed coverage partition algorithm.

原文English
主出版物標題ICRA 2017 - IEEE International Conference on Robotics and Automation
發行者Institute of Electrical and Electronics Engineers Inc.
頁面775-780
頁數6
ISBN(電子)9781509046331
DOIs
出版狀態Published - 2017 七月 21
事件2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
持續時間: 2017 五月 292017 六月 3

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
ISSN(列印)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
國家Singapore
城市Singapore
期間17-05-2917-06-03

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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