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Decentralized control of a group of mobile robots for deployment in sweep coverage
Authors:Teddy M Cheng  Andrey V Savkin  Faizan Javed
Affiliation:1. School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China;2. National Key Laboratory of Science and Technology on Multispectral Information Processing, China;3. Designing Institute of Hubei Space Technology Academy, China;1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China;2. School of Electrical Engineering and Automation, Anhui University, Hefei 230601, China;1. School of Astronautics, Beihang University, Beijing 100191, PR China;2. Key Laboratory of Spacecraft Design Optimization and Dynamic Simulation Technologies of Ministry of Education, Beihang University, Beijing 100191, PR China;3. University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth, TX 76118, USA;4. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110004, PR China;5. Department of Electrical and Computer Engineering, University of Denver, Denver, CO 80208, USA
Abstract:This paper addresses a problem of sweep coverage by deploying a network of autonomous mobile robots. We propose a decentralized control algorithm for the robots to accomplish the sweep coverage. The sweep coverage is achieved by coordinating the robots to move along a given path that is unknown to the vehicles a priori. The motion coordination algorithm is developed based on simple consensus algorithms. The effectiveness of the algorithm is demonstrated via numerical simulations. The proposed algorithm would have applications to military and civilian operations.
Keywords:
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