Time-optimal coverage control for multiple unicycles in a drift field

详细信息    查看全文

• 作者：Lei Zuo^a ; ^b ; Jicheng Chen^b ; Weisheng Yan^a ; Yang Shi ; ^b ; ^{yshi@uvic.ca" class="auth_mail" title="E-mail the corresponding author} ; ^{yangshi.uvic@gmail.com" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Coverage control ; Time-optimal Voronoi partition ; Drift field ; Unicycles
• 刊名：Information Sciences
• 出版年：2016
• 出版时间：10 December 2016
• 年：2016
• 卷：373
• 期：Complete
• 页码：571-580
• 全文大小：673 K

文摘

This paper is concerned with the time-optimal coverage control problem for multiple unicycles in a drift field. Regarding the optimal time for each vehicle to reach an arbitrary point in the given region as a metric, a novel cost function is defined to evaluate the performance of the coverage network. Then, the time-optimal Voronoi partition is developed by using the optimal control theory and Lloyd’s algorithms. On this basis, a distributed coverage control law is proposed to deploy the unicycles to the optimal positions. The stability of this coverage system is further analyzed. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches.