TY - GEN
T1 - Distributed collision-free coverage control of mobile robots with consensus-based approach
AU - Tnunay, Hilton
AU - Li, Zhenhong
AU - Wang, Chunyan
AU - Ding, Zhengtao
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/4
Y1 - 2017/8/4
N2 - In this paper, we present a novel distributed coverage control scheme with collision avoidance based on consensus approach and potential field. The computational geometry of spatial structures is exploited using centroidal Voronoi tessellation and the locational optimization problem is introduced in a distributed fashion. By using the interaction term of Voronoi neighbour, a distributed protocol is proposed based on consensus strategy to solve the extended locational optimization problem. Distributed potential field is then applied for collision avoidance of the robotic group in an unknown environment and the performance of the proposed control strategy is guaranteed by using Lyapunov stability analysis. Finally, theoretical results are validated through simulations on a group of mobile robots.
AB - In this paper, we present a novel distributed coverage control scheme with collision avoidance based on consensus approach and potential field. The computational geometry of spatial structures is exploited using centroidal Voronoi tessellation and the locational optimization problem is introduced in a distributed fashion. By using the interaction term of Voronoi neighbour, a distributed protocol is proposed based on consensus strategy to solve the extended locational optimization problem. Distributed potential field is then applied for collision avoidance of the robotic group in an unknown environment and the performance of the proposed control strategy is guaranteed by using Lyapunov stability analysis. Finally, theoretical results are validated through simulations on a group of mobile robots.
UR - http://www.scopus.com/inward/record.url?scp=85029896914&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2017.8003141
DO - 10.1109/ICCA.2017.8003141
M3 - Conference contribution
AN - SCOPUS:85029896914
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 678
EP - 683
BT - 2017 13th IEEE International Conference on Control and Automation, ICCA 2017
PB - IEEE Computer Society
T2 - 13th IEEE International Conference on Control and Automation, ICCA 2017
Y2 - 3 July 2017 through 6 July 2017
ER -