Multi-agent coverage control design with dynamic sensing regions

作     者：Longbiao MA Fenghua HE Long WANG Yu YAO 

作者机构：Control and Simulation Center Harbin Institute of Technology Harbin Heilongjiang 150080 China 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2018年第16卷第3期

页      面：161-172页

核心收录：

学科分类：11[军事学] 080904[工学-电磁场与微波技术] 081901[工学-采矿工程] 0819[工学-矿业工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 110503[军事学-军事通信学] 0810[工学-信息与通信工程] 1105[军事学-军队指挥学] 1104[军事学-战术学] 082601[工学-武器系统与运用工程] 081105[工学-导航、制导与控制] 0826[工学-兵器科学与技术] 081001[工学-通信与信息系统] 081002[工学-信号与信息处理] 0811[工学-控制科学与工程] 

基　　金：This research work was partially supported by the National Natural Science Foundation of China (Nos. 61473099  61333001 ) 

主　　题：Effective coverage multi-agent systems region reconnaissance altitude constraint dynamic sensing regions 

摘      要：A cooperative region reconnaissance problem is considered in this paper where a group of agents are required to reconnoitre a region of interest. Amain challenge of this problem is the sensing region of each agent varies with its altitude within an altitude constraint. Meanwhile, the reconnaissance ability of an agent is determined by its altitude and radial distance. First, the region reconnaissance is formulated as an effective coverage problem, which means that each point in the given region should be surveyed until a preset level is achieved. Then, an effective coverage control law is proposed to minimize coverage performance index by adjusting the altitude of an agent. Finally, the effectiveness of the proposed control law is verified through numerical simulations.