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Voronoi-based coverage control with anisotropic sensors and experimental case study |
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| Authors: | Azwirman Gusrialdi Sandra Hirche David Asikin Takeshi Hatanaka Masayuki Fujita |
| Affiliation: | 1. Institute of Automatic Control, Technical University of Munich, Theresienstrasse 90, Building N5, 80290, Munich, Germany 2. Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA, 15213-3890, USA 3. Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 S5-26 O-okayama, Meguro-ku, Tokyo, 152-8550, Japan |
| Abstract: | 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. |
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