Premium
Decentralized Dynamic Coverage Control for Mobile Sensor Networks in a Non‐convex Environment
Author(s) -
Song Cheng,
Feng Gang,
Wang Yong
Publication year - 2013
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.532
Subject(s) - collision avoidance , cover (algebra) , convergence (economics) , domain (mathematical analysis) , computer science , collision , control (management) , point (geometry) , scheme (mathematics) , task (project management) , decentralised system , wireless sensor network , distributed computing , engineering , computer security , computer network , mathematics , artificial intelligence , mechanical engineering , mathematical analysis , geometry , systems engineering , economic growth , economics
In this paper, we consider the problem of decentralized dynamic coverage control for mobile sensor networks in an environment with unknown obstacles. The goal is to cover each point in the mission domain but outside the obstacles to a desired level. Each agent is modeled as a point mass based on Newton's law. A decentralized control strategy is developed to accomplish the dynamic coverage task without collision with obstacles. Discrete update of the cooperative coverage is also considered to enhance the cooperation of the agents in the fleet. The collision avoidance and global convergence of the proposed control scheme are proved and illustrated via a simulation example.