Coordination of nonholonomic mobile robots for diffusive threat defense
Coordination of nonholonomic mobile robots for diffusive threat defense
复制标题
用于扩散威胁防御的非完整移动机器人的协调
DOI：
10.1016/j.jfranklin.2019.03.014
复制
发表时间：
2019-05-01
影响因子：
4.1
通讯作者：
Xiao, Jiang-Wen
中科院分区：
文献类型：
--
作者：
Luo, Kai;Guan, Zhi-Hong;Xiao, Jiang-Wen
研究了一组带智能执行器的非完整移动的机器人在平面凸区域内的协调防御问题。威胁是指化学污染物等有害物质出现在外部并向该区域移动。威胁的入侵可以用二维非定常反应扩散过程来模拟。为了反映威胁对区域的不利影响，引入了风险强度场。风险强度的值等于由静态网状传感器网络测量的威胁的浓度。基于此风险强度场，制定了协调控制方案，使用Voronoi镶嵌。为了最小化执行器性能损失的同时降低总平均风险强度，设计了一种包含最优运动控制和风险缓解控制的广义质心Voronoi曲面细分（CVT）算法.该算法是基于梯度和引导移动的机器人跟踪其最佳轨迹渐近。同时，给出了使总平均风险强度低于安全水平的控制增益的两个选择条件。仿真结果表明了该算法相对于传统控制方法的优越性。(C)2019年富兰克林研究所。由爱思唯尔有限公司出版。保留所有权利。
This paper studies coordination of a team of nonholonomic mobile robots with smart actuators for defending against invasive threat to a planar convex area. The threat refers to a kind of harmful substance such as chemical pollutant appearing outside and moving towards the area. The invasion of threat can be modeled by a 2D unsteady reaction-diffusion process. To reflect the adverse effect of threat on the area, a so-called risk intensity field is introduced. The value of risk intensity is equal to the concentration of threat measured by a static mesh sensor network. Based on this risk intensity field, a coordination control scenario using Voronoi tessellation is formulated. In order to minimize the actuator performance loss and reduce the total average risk intensity simultaneously, a generalized centroidal Voronoi tessellation (CVT) algorithm including optimal motion control and risk mitigation control is designed. The proposed algorithm is gradient-based and guides mobile robots to track their optimal trajectories asymptotically. Meanwhile, two conditions of choosing control gains are derived to keep the total average risk intensity below a safety level. Several simulation examples with different cases of threat invasion are provided and the advantage of proposed algorithm over traditional control method is presented. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.