کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
707540 1460986 2015 16 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Persistent coverage control for a team of agents with collision avoidance
ترجمه فارسی عنوان
کنترل پوشش پایدار برای یک تیم از عوامل با اجتناب از برخورد
کلمات کلیدی
پوشش پایدار، محدوده سنجش، برنامه ریزی حرکت غیرخولومومی، اجتناب از برخورد
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
چکیده انگلیسی

In this paper, the idea of persistent coverage to be accomplished by multiple agents while avoiding collisions is considered and developed. The persistent coverage problem is formulated by assuming that the coverage degrades over time. In this framework, our contribution is a new distributed control law which is capable of carrying out the persistent coverage without computing agents׳ paths explicitly. The proposed setup considers agents with nonholonomic motion constraints and it is based on the combination of local and global strategies to achieve efficient coverage while avoiding bottlenecks such as local minima. The local strategy is based on the gradient of the coverage error in the neighborhood of an agent whereas the global strategy leads the agents to uncovered areas of the domain. Furthermore, we present a new bounded potential repulsion law and a proof of safe navigation is provided for the case of unicycle vehicles. We also propose a modification of the tangent-bug algorithm to deal with multiple non-point agents which allows the team to navigate in environments with non-convex obstacles in a reactive manner. Simulation results illustrate the performance of the proposed control law.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: European Journal of Control - Volume 22, March 2015, Pages 30–45
نویسندگان
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