DYNAMIC COVERAGE CONTROL DESIGN OF MULTI-AGENT SYSTEMS UNDER ELLIPSE SENSING REGIONS

被引：1

作者：

Ma, Longbiao ^{[1
]}

He, Fenghua ^{[1
]}

Wang, Long ^{[1
]}

Ji, Denggao ^{[2
]}

Yao, Yu ^{[1
]}

机构：

[1] Harbin Inst Technol, Control & Simulat Ctr, Harbin 150080, Heilongjiang, Peoples R China

[2] Beijing Inst Nearspace Vehicles Syst Engn, Beijing 100083, Peoples R China

来源：

KYBERNETIKA | 2018年 / 54卷 / 05期

基金：

中国国家自然科学基金;

关键词：

coverage; multi-agent systems; region reconnaissance; ellipse sensing region; EFFICIENT; NETWORKS;

D O I：

10.14736/kyb-2018-5-0991

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the dynamic coverage control problem for cooperative region reconnaissance where a group of agents are required to reconnoitre a given region. The main challenge of this problem is that the sensing region of each agent is an ellipse. This modeling results in asymmetric(directed) interactions among agents. First, the region reconnaissance is formulated as a coverage problem, where each point in the given region should be surveyed until a preset level is achieved. Then, a coverage control law is designed that minimizes coverage performance index by finite switches between nominal control laws and perturbation control law. Finally, numerical simulations are provided to indicate the efficiency of the proposed control law.

引用

页码：991 / 1010

页数：20

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