Guidance Of A Nonholonomic Autonomous Agent For Coverage Applications

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• 作者：Soumya Ranjan Sahoo^&lowast ; ; ^{srsahoo@iitk.ac.in" class="auth_mail" title="E-mail the corresponding author} ; Akanchha Agarwal^&lowast ; &lowast ; ; ^{akanchha@iitk.ac.in" class="auth_mail" title="E-mail the corresponding author}
• 关键词：unicycle model ; area coverage ; guidance
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：1
• 页码：201-206
• 全文大小：1704 K

文摘

This paper addresses the problem of guiding a nonholonomic autonomous agent to cover a region surrounding a maneuvering target. The proposed control algorithm ensures area coverage in the target-centric frame. The coverage region is an annular ring centered around a maneuvering target. The region is defined by the maximum and minimum radii. The control law assumes complete information about the target. The agent follows a virtual agent to cover the designated area. The idea can be extended to a stationary target case. Lyapunov analysis has been done to establish stability. Simulations results for the proposed algorithm are presented.