Fuzzy Virtual Torque Approach for Coverage Control of Nonholonomic Mobile Robots

被引：0
|
作者：
Dirafzoon, Alireza [1 ]
Emrani, Saba [1 ]
Salehizadeh, S. M. Amin [1 ]
Menhaj, M. Bagher [1 ]
机构：
[1] Amirkabir Univ Technol, Dept Elect Engn, Tehran 424, Hafez, Iran
来源：
2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年
关键词：
Mobile sensor networks; Coverage; Fuzzy inference system; Virtual Torque; Nonholonomic mobile robots;
D O I：
10.1109/WCICA.2010.5553937
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we study the problem of covering an environment using a group of mobile robots with nonholonomic kinematic and dynamic constraints. We introduce a fuzzy logic based approach in which repulsive and attractive torques generated by fuzzy inference system make a network of robots deploy in an unknown environment, and avoid collision among themselves and with obstacles. In comparison with previous studies, we take into account kinematic and dynamic constraints of nonholonomic mobile robots in the coverage control algorithm and also consider the mobile robots modeled as circular disks instead of being point-robots. Simulation results approve the effectiveness of the proposed method.
引用
收藏
页码：3109 / 3114
页数：6
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