The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
Dalam makalah ini, kami mengkaji masalah kawalan liputan terdesentralisasi untuk persekitaran menggunakan sekumpulan robot mudah alih autonomi dengan kekangan kinematik dan dinamik nonholonomik. Berbanding dengan prosedur kawalan liputan standard, kami membangunkan pengawal gabungan untuk pendekatan liputan berasaskan Voronoi di mana kekangan kinematik dan dinamik robot penderiaan mudah alih sebenar dimasukkan ke dalam reka bentuk pengawal. Tambahan pula, komponen pengelakan perlanggaran ditambah dalam pengawal kinematik untuk menjamin liputan bebas perlanggaran di kawasan tersebut. Penumpuan rangkaian kepada konfigurasi penderiaan optimum dibuktikan dengan analisis jenis Lyapunov. Simulasi berangka disediakan yang meluluskan keberkesanan kaedah yang dicadangkan melalui beberapa senario eksperimen.
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Salinan
Alireza DIRAFZOON, Mohammad Bagher MENHAJ, Ahmad AFSHAR, "Decentralized Coverage Control for Multi-Agent Systems with Nonlinear Dynamics" in IEICE TRANSACTIONS on Information,
vol. E94-D, no. 1, pp. 3-10, January 2011, doi: 10.1587/transinf.E94.D.3.
Abstract: In this paper, we study the decentralized coverage control problem for an environment using a group of autonomous 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 into the controller design. Furthermore, a collision avoidance component is added in the kinematic controller in order to guarantee a collision free coverage of the area. The convergence of the network to the optimal sensing configuration is proven with a Lyapunov-type analysis. Numerical simulations are provided approving the effectiveness of the proposed method through several experimental scenarios.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.E94.D.3/_p
Salinan
@ARTICLE{e94-d_1_3,
author={Alireza DIRAFZOON, Mohammad Bagher MENHAJ, Ahmad AFSHAR, },
journal={IEICE TRANSACTIONS on Information},
title={Decentralized Coverage Control for Multi-Agent Systems with Nonlinear Dynamics},
year={2011},
volume={E94-D},
number={1},
pages={3-10},
abstract={In this paper, we study the decentralized coverage control problem for an environment using a group of autonomous 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 into the controller design. Furthermore, a collision avoidance component is added in the kinematic controller in order to guarantee a collision free coverage of the area. The convergence of the network to the optimal sensing configuration is proven with a Lyapunov-type analysis. Numerical simulations are provided approving the effectiveness of the proposed method through several experimental scenarios.},
keywords={},
doi={10.1587/transinf.E94.D.3},
ISSN={1745-1361},
month={January},}
Salinan
TY - JOUR
TI - Decentralized Coverage Control for Multi-Agent Systems with Nonlinear Dynamics
T2 - IEICE TRANSACTIONS on Information
SP - 3
EP - 10
AU - Alireza DIRAFZOON
AU - Mohammad Bagher MENHAJ
AU - Ahmad AFSHAR
PY - 2011
DO - 10.1587/transinf.E94.D.3
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E94-D
IS - 1
JA - IEICE TRANSACTIONS on Information
Y1 - January 2011
AB - In this paper, we study the decentralized coverage control problem for an environment using a group of autonomous 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 into the controller design. Furthermore, a collision avoidance component is added in the kinematic controller in order to guarantee a collision free coverage of the area. The convergence of the network to the optimal sensing configuration is proven with a Lyapunov-type analysis. Numerical simulations are provided approving the effectiveness of the proposed method through several experimental scenarios.
ER -