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
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