TY - GEN
T1 - Distributed Coverage Optimization and Control with Applications to Precision Agriculture
AU - Zhang, Jun
AU - Tnunay, Hilton
AU - Wang, Chunyan
AU - Lyu, Xinguang
AU - Ding, Zhengtao
N1 - Publisher Copyright:
© 2018 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2018/10/5
Y1 - 2018/10/5
N2 - In this paper, distributed coverage optimization and control problem with collision avoidance and parameter estimation are studied. First, we consider the case that the density function φ(q) is known by all the robots in the network. By using the interaction term of Voronoi neighbour, coverage optimization and control protocols are designed in a distributed way such that the best position of each robot can be determined and all the robots can move to the best positions without collision. Then, we consider the case that the density function φ(q) is not known by the robots. By using the adaptive technique, the density function φ(q) can be estimated in a fast and distributed way. Finally, the proposed coverage control scheme are applied to remote sensing for precision farming and the effectiveness of the strategy is validated through some simulation results.
AB - In this paper, distributed coverage optimization and control problem with collision avoidance and parameter estimation are studied. First, we consider the case that the density function φ(q) is known by all the robots in the network. By using the interaction term of Voronoi neighbour, coverage optimization and control protocols are designed in a distributed way such that the best position of each robot can be determined and all the robots can move to the best positions without collision. Then, we consider the case that the density function φ(q) is not known by the robots. By using the adaptive technique, the density function φ(q) can be estimated in a fast and distributed way. Finally, the proposed coverage control scheme are applied to remote sensing for precision farming and the effectiveness of the strategy is validated through some simulation results.
KW - Coverage Control
KW - Density Function Estimation
KW - Distributed Strategy
KW - Precision Agriculture
UR - http://www.scopus.com/inward/record.url?scp=85056118211&partnerID=8YFLogxK
U2 - 10.23919/ChiCC.2018.8483269
DO - 10.23919/ChiCC.2018.8483269
M3 - Conference contribution
AN - SCOPUS:85056118211
T3 - Chinese Control Conference, CCC
SP - 6836
EP - 6841
BT - Proceedings of the 37th Chinese Control Conference, CCC 2018
A2 - Chen, Xin
A2 - Zhao, Qianchuan
PB - IEEE Computer Society
T2 - 37th Chinese Control Conference, CCC 2018
Y2 - 25 July 2018 through 27 July 2018
ER -