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

Lei Zuo; Jicheng Chen; Weisheng Yan; Yang Shi

doi:10.1016/j.ins.2016.03.053

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

Lei Zuo, Jicheng Chen, Weisheng Yan, Yang Shi

School of Marine Science and Technology

Research output: Contribution to journal › Article › peer-review

22 Scopus citations

Abstract

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.

Original language	English
Pages (from-to)	571-580
Number of pages	10
Journal	Information Sciences
Volume	373
DOIs	https://doi.org/10.1016/j.ins.2016.03.053
State	Published - 10 Dec 2016

Keywords

Coverage control
Drift field
Time-optimal Voronoi partition
Unicycles

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10.1016/j.ins.2016.03.053

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title = "Time-optimal coverage control for multiple unicycles in a drift field",

abstract = "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.",

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AU - Zuo, Lei

AU - Chen, Jicheng

AU - Yan, Weisheng

AU - Shi, Yang

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Y1 - 2016/12/10

N2 - 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.

AB - 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.

KW - Coverage control

KW - Drift field

KW - Time-optimal Voronoi partition

KW - Unicycles

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VL - 373

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EP - 580

JO - Information Sciences

JF - Information Sciences

ER -

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

Abstract

Keywords

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