Distributed Receding Horizon Coverage Control for Multiple Mobile Robots

被引：21

作者：

Mohseni, Fatemeh ^{[1
]}

Doustmohammadi, Ali ^{[1
]}

Menhaj, Mohammad Bagher ^{[1
]}

机构：

[1] Amirkabir Univ Technol, Tehran Polytech, Tehran 158754413, Iran

来源：

IEEE SYSTEMS JOURNAL | 2016年 / 10卷 / 01期

关键词：

Coverage control; distributed control; optimization; receding horizon control (RHC); robot motion; SYSTEMS; NETWORKS;

D O I：

10.1109/JSYST.2014.2325219

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a distributed coverage control scheme based on receding horizon control for the coordination of multiple mobile robots to cover an event. The mission space is modeled using a probability density function representing the probability of occurrence of events. The distributed scheme is generated by the decomposition of a single optimal coverage problem into distributed receding horizon coverage control problems, each of them associated with one robot. The distributed coverage scheme is proven to optimally stabilize robots at a centroidal Voronoi configuration, which is an optimal configuration to cover an event. The control scheme is tested in three simulation environments to illustrate its good performance at environments with any probability density function of events, as well as its ability to generalize to much larger groups of mobile robots.

引用

页码：198 / 207

页数：10

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