Decentralized spatial partitioning for multi-vehicle systems in spatiotemporal flow-field
Decentralized spatial partitioning for multi-vehicle systems in spatiotemporal flow-field
复制标题
时空流场中多车辆系统的分散空间划分
DOI：
10.1016/j.automatica.2014.07.016
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
E. Bakolas
中科院分区：
文献类型：
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作者：
E. Bakolas
我们考虑了在二维欧氏空间中刻画凸多边形的广义Voronoi图/划分的问题，该图/划分编码了关于一组空中/海上飞行器与划分空间中任意点之间的邻近关系的信息。当在存在时空漂移场的情况下，由局部最优反馈控制律驱动时，这些接近关系由每个车辆到达分区空间中的任意点所需的时间来确定。这项工作的主要贡献是提出了一种分散的划分算法，即每个车辆可以根据广义Voronoi划分独立地计算其相应的单元，而不需要计算或接收关于其他车辆的单元的信息。最后，我们使用实际漂移场的数据进行了数值模拟，以说明所提出的一类空间划分问题的分散解的关键特征。
We consider the problem of characterizing a generalized Voronoi diagram/partition of a convex polygon in a two-dimensional Euclidean space that encodes information about the proximity relations between a team of aerial/marine vehicles and arbitrary points in the partition space. These proximity relations are determined by the time required for each vehicle to reach an arbitrary point (time-to-go) in the partition space when driven by a locally optimal feedback control law in the presence of a spatiotemporal drift field. The main contribution of this work is the presentation of a partitioning algorithm, which is decentralized, in the sense that each vehicle can independently compute its corresponding cell from the generalized Voronoi partition without computing or receiving information about the cells of the other vehicles. Finally, we present numerical simulations using data from real drift fields to illustrate the key features of the decentralized solution to the proposed class of spatial partitioning problems.