Distributed collision-free coverage control of mobile robots with consensus-based approach

Hilton Tnunay; Zhenhong Li; Chunyan Wang; Zhengtao Ding

doi:10.1109/ICCA.2017.8003141

Distributed collision-free coverage control of mobile robots with consensus-based approach

Hilton Tnunay, Zhenhong Li, Chunyan Wang, Zhengtao Ding

University of Manchester

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

14 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2017 13th IEEE International Conference on Control and Automation, ICCA 2017
Publisher	IEEE Computer Society
Pages	678-683
Number of pages	6
ISBN (Electronic)	9781538626795
DOIs	https://doi.org/10.1109/ICCA.2017.8003141
Publication status	Published - 4 Aug 2017
Externally published	Yes
Event	13th IEEE International Conference on Control and Automation, ICCA 2017 - Ohrid, Macedonia, The Former Yugoslav Republic of Duration: 3 Jul 2017 → 6 Jul 2017

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	13th IEEE International Conference on Control and Automation, ICCA 2017
Country/Territory	Macedonia, The Former Yugoslav Republic of
City	Ohrid
Period	3/07/17 → 6/07/17

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10.1109/ICCA.2017.8003141

Cite this

Tnunay, H., Li, Z., Wang, C., & Ding, Z. (2017). Distributed collision-free coverage control of mobile robots with consensus-based approach. In 2017 13th IEEE International Conference on Control and Automation, ICCA 2017 (pp. 678-683). Article 8003141 (IEEE International Conference on Control and Automation, ICCA). IEEE Computer Society. https://doi.org/10.1109/ICCA.2017.8003141

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title = "Distributed collision-free coverage control of mobile robots with consensus-based approach",

abstract = "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.",

author = "Hilton Tnunay and Zhenhong Li and Chunyan Wang and Zhengtao Ding",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 13th IEEE International Conference on Control and Automation, ICCA 2017 ; Conference date: 03-07-2017 Through 06-07-2017",

year = "2017",

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doi = "10.1109/ICCA.2017.8003141",

language = "English",

series = "IEEE International Conference on Control and Automation, ICCA",

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Tnunay, H, Li, Z, Wang, C & Ding, Z 2017, Distributed collision-free coverage control of mobile robots with consensus-based approach. in 2017 13th IEEE International Conference on Control and Automation, ICCA 2017., 8003141, IEEE International Conference on Control and Automation, ICCA, IEEE Computer Society, pp. 678-683, 13th IEEE International Conference on Control and Automation, ICCA 2017, Ohrid, Macedonia, The Former Yugoslav Republic of, 3/07/17. https://doi.org/10.1109/ICCA.2017.8003141

Distributed collision-free coverage control of mobile robots with consensus-based approach. / Tnunay, Hilton; Li, Zhenhong; Wang, Chunyan et al.
2017 13th IEEE International Conference on Control and Automation, ICCA 2017. IEEE Computer Society, 2017. p. 678-683 8003141 (IEEE International Conference on Control and Automation, ICCA).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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M3 - Conference contribution

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T3 - IEEE International Conference on Control and Automation, ICCA

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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 -

Distributed collision-free coverage control of mobile robots with consensus-based approach

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