Optimal trajectories of mobile remote sensors for parameter estimation in distributed Cyber-Physical Systems
Optimal trajectories of mobile remote sensors for parameter estimation in distributed Cyber-Physical Systems
复制标题
分布式信息物理系统中用于参数估计的移动远程传感器的最佳轨迹
DOI：
10.1109/acc.2010.5530762
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
Y. Chen
中科院分区：
文献类型：
--
作者：
C. Tricaud;Y. Chen
在本文中，我们提出了一种获得机器人团队的最优轨迹的方法，该团队监控位于不同域的分布参数系统。移动机器人配备了远程传感器，能够从单独的空间测量所考虑的系统的状态。机器人团队轨迹规划的目的是获得测量数据，从而估计所考虑系统的参数。从给定的一组偏微分方程组出发，通过最小化与所获得参数值的期望精度相关的D-最优性准则，得到分布式系统行为的动态、最优路径和移动节点团队的转向。从这个原始问题出发，导出了一个最优控制问题，其优点是可以用现成的商业软件来求解。以扩散分布式系统为例，说明了该方法的有效性。
In this paper, we present a method to obtain the optimal trajectories of a team of robots monitoring a distributed parameter system located in a different domain. The mobile robots are equipped with remote sensors capable of measuring the considered system's state from a separate space. The purpose of trajectory planning of the team of robots is to obtain measurements so as to estimate the parameters of the considered system. From a given set of partial differential equation the dynamics of the distributed system's behavior, the optimal path and steering of the team of mobile nodes is obtained by minimizing the D-optimality criteria associated with the expected accuracy of the obtained parameter values. From this original problem, an optimal control problem is derived with the advantage of being solvable by readily available commercial softwares. The method is illustrated on a diffusive distributed syste.