A Distributed Deployment Algorithm for Mobile Robotic Agents with Limited Sensing/Communication Ranges

被引：0

作者：

Wang, Jing ^{[1
]}

Smith, Christopher ^{[2
]}

Staskevich, Gennady ^{[3
]}

Abbe, Brian ^{[3
]}

机构：

[1] Bradley Univ, Fac Elect & Comp Engn, Peoria, IL 61625 USA

[2] Bradley Univ, Dept Elect & Comp Engn, Peoria, IL 61625 USA

[3] AFRL, RISC, Rome, NY 13441 USA

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON ELECTRO/INFORMATION TECHNOLOGY (EIT) | 2015年

关键词：

COORDINATION; COVERAGE;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this paper, we propose a distributed deployment algorithm for a group of mobile robots to cover a convex region. The individual mobile robot considered has kinematic constraints, and may only exchange information locally with its neighboring counterparts due to its limited sensing/communication range. The proposed deployment algorithm iteratively updates the Voronoi partition through local information exchange, and then moves toward its centroid based on centroid-drive control algorithms. Particularly, in addition to gradient-based centroid-drive control algorithm in which input-output linearization has been applied to robot model, a new algorithm based on distributed consensus is proposed to directly address the kinematic constraint associated with robot model. Simulation results are provided to illustrate the effectiveness of the proposed algorithm.

引用

页码：530 / 535

页数：6

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