Coverage control of multiple ocean vehicles for environment monitoring with energy constraints

Lei Zuo, Weisheng Yan, Rongxin Cui, Wei Chen, Xiaoshan Bai

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

A coverage control algorithm in unknown environment is proposed for the multi-vehicle systems in this paper. The measurement white-noise is taken into consideration while learning the interest information online. The Kalman Filter (KF) is introduced to eliminate the noise disturbance and provide us a set of accurately sampled-data. Then, we describe an adaptive algorithm to approximate the sensory function by using the sampled-data from KF. A decentralized adaptive control architecture is proposed to drive the vehicles converge to the optimal coverage configuration with the estimated Voronoi Centroids. Finally, simulations are carried out to demonstrate the adaptive estimation algorithm and show us that the multi-vehicle systems will converge to the optimal coverage configuration.

Original languageEnglish
Title of host publicationOCEANS 2014 - TAIPEI
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479936465
DOIs
StatePublished - 20 Nov 2014
EventOCEANS 2014 MTS/IEEE Taipei Conference: Oceans Regeneration - Taipei, Taiwan, Province of China
Duration: 7 Apr 201410 Apr 2014

Publication series

NameOCEANS 2014 - TAIPEI

Conference

ConferenceOCEANS 2014 MTS/IEEE Taipei Conference: Oceans Regeneration
Country/TerritoryTaiwan, Province of China
CityTaipei
Period7/04/1410/04/14

Keywords

  • Coverage Control
  • Energy Constraints
  • KF
  • Ocean Vehicle

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