Optimal mobile sensor motion planning under nonholomonic constraints for parameter estimation of distributed systems

被引:0
|
作者
Song, Z [1 ]
Chen, YQ [1 ]
Liang, JS [1 ]
Ucinski, D [1 ]
机构
[1] Utah State Univ, Dept Elect & Comp Engn, CSOIS, Logan, UT 84322 USA
关键词
distributed parameter system; sensor trajectory; motion planning; RIOTS; optimal control; MAS-net; sensor networks; networked mobile robots;
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
This paper presents a numerical solution for a mobile sensor motion trajectory scheduling problem under nonholomonic constraints of a project named MAS-net, which stands for Mobile Actuator-Sensor network. The motivation of the MAS-net project, at the first stage, is to estimate diffusion system parameters by networked mobile sensors. Each sensor is mounted on a differential-drive mobile robot to observe the diffusing fog. In other words, this project requires to observe a parabolic distributed parameter systems (DPS) by nonholonomic networked mobile sensors. This paper reformulates this problem in the framework of optimal control and proposes a procedure to obtain a numerical solution by using RIOTS [1] and Matlab PDE Toolbox [2]. The objective function of this method is designed to minimize the effect of the sensing noise. Extensive simulation results are presented for illustration.
引用
收藏
页码:1505 / 1510
页数:6
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