Coverage control for heterogeneous mobile sensor networks on a circle

被引:63
|
作者
Song, Cheng [1 ,2 ]
Liu, Lu [2 ]
Feng, Gang [2 ]
Xu, Shengyuan [1 ]
机构
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China
[2] City Univ Hong Kong, Dept Mech & Biomed Engn, Kowloon, Hong Kong, Peoples R China
基金
中国国家自然科学基金;
关键词
Coverage control; Mobile sensor networks; Distributed control; Input saturation; Order preservation; COLLECTIVE CIRCULAR MOTION; LEADER-FOLLOWING CONSENSUS; MULTIAGENT SYSTEMS; INPUT SATURATION; TASK ALLOCATION; DEPLOYMENT; AGENTS; COORDINATION; STABILIZATION; ALGORITHMS;
D O I
10.1016/j.automatica.2015.10.044
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The coverage control problem for a network of heterogeneous mobile sensors with first-order dynamics is addressed in this paper. The goal of the problem is to minimize a coverage cost function which is defined to be the largest arrival time from the mobile sensor network to the points on a circle. The heterogeneity of the network is considered in terms of different maximum velocities of the mobile sensors, which in turn imposes different constraints on the sensors' control inputs. A necessary and sufficient condition for the global minimization of the coverage cost function is firstly derived via a partition of the circle. Then, a distributed coverage control scheme with input saturation is developed to drive the sensors to the optimal configuration such that the necessary and sufficient condition is satisfied. Under the distributed coverage control scheme, the mobile sensors' spatial order on the circle is preserved throughout the network's evolution and thus collision between mobile sensors is avoided. Finally, simulation results are presented to illustrate the effectiveness of the proposed distributed control scheme. (C) 2015 Elsevier Ltd. All rights reserved.
引用
收藏
页码:349 / 358
页数:10
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