TY - GEN
T1 - Dynamic coverage control for mobile robot network with limited and nonidentical sensory ranges
AU - Li, Wei Tao
AU - Liu, Yen Chen
PY - 2017/7/21
Y1 - 2017/7/21
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85027979422&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85027979422&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2017.7989095
DO - 10.1109/ICRA.2017.7989095
M3 - Conference contribution
AN - SCOPUS:85027979422
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 775
EP - 780
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -