Adaptive Multi-Agent Coverage Control With Obstacle Avoidance

被引：12

作者：

Bai, Yang ^{[1
]}

Wang, Yujie ^{[2
]}

Svinin, Mikhail ^{[1
]}

Magid, Evgeni ^{[3
]}

Sun, Ruisheng ^{[4
]}

机构：

[1] Ritsumeikan Univ, Informat Sci & Engn Dept, Kusatsu 5258577, Japan

[2] Univ Illinois UrbanaChampaign, Dept Elect & Comp Engn, Urbana, IL 61801 USA

[3] Kazan Fed Univ, Dept Intelligent Robot, Kazan 420008, Russia

[4] Nanjing Univ Sci & Technol, Sch Energy & Power Engn, Nanjing 210094, Peoples R China

来源：

IEEE CONTROL SYSTEMS LETTERS | 2022年 / 6卷

基金：

俄罗斯基础研究基金会; 日本科学技术振兴机构;

关键词：

Actuators; Uncertainty; Sensors; Collision avoidance; Asymptotic stability; Stability analysis; Multi-agent systems; Adaptive control; uncertain systems; cooperative control; TRACKING CONTROL;

D O I：

10.1109/LCSYS.2021.3087609

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This letter presents an adaptive coverage control strategy for multi-agent systems with obstacle avoidance in the presence of actuator faults and time-varying uncertainties. The strategy is based on a leader-follower approach. Assuming that the motion of the leader is given, one distributes the followers within the leader's obstacle-free sensing range so that collisions with obstacles can be avoided. An optimized distribution is achieved through the Centroidal Voronoi Tessellation (CVT) and a function approximation technique based immersion and invariance (FATII) coverage controller is constructed to realize the CVT. The stability of the FATII coverage controller is established and its validity is tested by simulations.

引用

页码：944 / 949

页数：6

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