Voronoi based coverage control with anisotropic sensors

被引:50
作者
Gusrialdi, Azwirman [1 ]
Hirche, Sandra [2 ]
Hatanaka, Takeshi [1 ]
Fujita, Masayuki [1 ]
机构
[1] Tokyo Inst Technol, Dept Mech & Control Engn, Tokyo 152, Japan
[2] Tech Univ Munich, Inst Automat Control Engn, Munich, Germany
来源
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2008年
关键词
D O I
10.1109/ACC.2008.4586580
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper the coverage control problem for mobile sensor networks is studied. The novelty is to consider an anisotropic sensor model where the performance of the sensor depends not only on the distance but also on the orientation to the target. By adapting the Lloyd algorithm and assuming a fixed and equal sensor orientation, a distributed control law is derived. Aside from coverage, the control law also guarantees collision avoidance between the agents. A simulation is provided to illustrate the results obtained in this paper. Furthermore, a numerical performance analysis to compare the anisotropic sensors modelling to isotropic approximations is performed.
引用
收藏
页码:736 / +
页数:2
相关论文
共 9 条
[1]   Spatially-distributed coverage optimization and control with limited-range interactions [J].
Cortés, J ;
Martínez, S ;
Bullo, F .
ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS, 2005, 11 (04) :691-719
[2]   Coverage control for mobile sensing networks [J].
Cortés, J ;
Martínez, S ;
Karatas, T ;
Bullo, F .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (02) :243-255
[3]   Convergence of the Lloyd algorithm for computing centroidal Voronoi tessellations [J].
Du, Q ;
Emelianenko, M ;
Ju, LL .
SIAM JOURNAL ON NUMERICAL ANALYSIS, 2006, 44 (01) :102-119
[4]  
HOKAYEM PF, 2007, P AM CONTR C, P4878
[5]  
Howard A, 2002, DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 5, P299
[6]  
Hussein II, 2006, IEEE DECIS CONTR P, P2749
[7]  
Igarashi Y, 2007, IEEE DECIS CONTR P, P1588
[8]  
Labelle F., 2003, P 19 ANN S COMP GEOM, P191, DOI DOI 10.1145/777792.777822
[9]  
Li W, 2005, IEEE DECIS CONTR P, P2542