Voronoi Based Coverage Control for Nonholonomic Mobile Robots

被引：0
|
作者：
Dirafzoon, Alireza [1 ]
Menhaj, Mohammad B. [1 ]
Afshar, Ahmad
机构：
[1] Amirkabir Univ Technol, Dept Elect Engn, Tehran, Iran
来源：
INTERNATIONAL MULTICONFERENCE OF ENGINEERS AND COMPUTER SCIENTISTS (IMECS 2010), VOLS I-III | 2010年
关键词：
Distributed coverage control; Sensor networks; Nonholonomic mobile robots; Voronoi tessellation; DISCONTINUOUS CONTROL; SYSTEMS;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
In this paper we deal with the problem of covering an environment using a group of mobile robots with nonholonomic kinematic and dynamic constraints. In comparison with standard coverage control procedures, we develop a combined controller for Voronoi-based coverage approach in which kinematic and dynamic constraints of the actual mobile sensing robots are incorporated in the controller design. The stability of the entire systems is guaranteed using Lyapunov stability theory, and numerical simulations are provided approving the effectiveness of the proposed method.
引用
收藏
页码：987 / +
页数：2
相关论文
共 50 条
  • [1] Voronoi Based Coverage Control for Nonholonomic Mobile Robots with Collision Avoidance
    Dirafzoon, A.
    Menhaj, M. B.
    Afshar, A.
    [J]. 2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 2010, : 1755 - 1760
  • [2] Decentralized Adaptive Coverage Control of Nonholonomic Mobile Robots
    Razak, Rihab A.
    Sukumar, Srikant
    Chung, Hoam
    [J]. IFAC PAPERSONLINE, 2016, 49 (18): : 410 - 415
  • [3] Complete coverage control for nonholonomic mobile robots in dynamic environments
    Guo, Yi
    Balakrishnan, Mohanakrishnan
    [J]. 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 1704 - +
  • [4] Coverage Control of Multiple Heterogeneous Mobile Robots with Nonholonomic Constraints
    Zhang Jingxin
    Pan, Zhou
    Lei, Ma
    [J]. PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 6272 - 6277
  • [5] Fuzzy Virtual Torque Approach for Coverage Control of Nonholonomic Mobile Robots
    Dirafzoon, Alireza
    Emrani, Saba
    Salehizadeh, S. M. Amin
    Menhaj, M. Bagher
    [J]. 2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2010, : 3109 - 3114
  • [6] Development of Autonomous Navigation Method for Nonholonomic Mobile Robots Based on the Generalized Voronoi Diagram
    Shao, Minglei
    Lee, Ji Yeong
    [J]. INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010), 2010, : 309 - 313
  • [7] Higher order Voronoi based mobile coverage control
    Jiang, Bomin
    Sun, Zhiyong
    Anderson, Brian D. O.
    [J]. 2015 AMERICAN CONTROL CONFERENCE (ACC), 2015, : 1457 - 1462
  • [8] Formation control of nonholonomic mobile robots
    Dong, W. J.
    Guo, Yi
    Farrell, J. A.
    [J]. 2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 : 507 - COVER3
  • [9] Event-based tracking control for nonholonomic mobile robots
    Xie, Chen
    Fan, Yuan
    Qiu, Jianbin
    [J]. NONLINEAR ANALYSIS-HYBRID SYSTEMS, 2020, 38
  • [10] Control of Nonholonomic Mobile Robots Based on the Transverse Function Approach
    Morin, Pascal
    Samson, Claude
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2009, 25 (05) : 1058 - 1073
12345