Voronoi-based coverage control with anisotropic sensors and experimental case study
Voronoi-based coverage control with anisotropic sensors and experimental case study
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DOI：
10.1007/s11370-009-0047-6
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发表时间：
2009-08
影响因子：
2.5
通讯作者：
Azwirman Gusrialdi;S. Hirche;David Asikin;T. Hatanaka;M. Fujita
中科院分区：
文献类型：
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作者：
Azwirman Gusrialdi;S. Hirche;David Asikin;T. Hatanaka;M. Fujita
本文主要研究移动传感器网络的覆盖控制问题。新颖之处在于考虑了一种各向异性传感器模型，其性能不仅取决于距离，而且取决于目标点的方向。采用劳埃德算法，推导出分布式控制律。除了覆盖范围外，我们还证明了控制律保证了agent之间的碰撞避免。通过数值仿真和移动机器人试验台的实验验证了该控制律的有效性。
In this paper, we investigate coverage control problem for mobile sensor networks. The novelty is to consider an anisotropic sensor model whose performance depends not only on the distance but also on the orientation to a target point. By adapting Lloyd algorithm, a distributed control law is derived. Aside from coverage, we also show that the control law guarantees collision avoidance between the agents. The performance of the control laws is demonstrated through not only numerical simulation but also experiments on a mobile robot test bed.