Adaptive coverage control for multi-USV system in complex environment with unknown obstacles
Aiming at the shortcomings of the existing control law based on the global information, this article studies the coverage problem of a given region in the plane using a team of USVs. The coverage goal, which is to cover a given search domain using multiple mobile sensors so that each point is survey...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-06-01
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| Series: | International Journal of Distributed Sensor Networks |
| Online Access: | https://doi.org/10.1177/15501477211021525 |
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| _version_ | 1832547233291042816 |
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| author | Yao Yao Jun-Hua Cao Yi Guo Zhun Fan Bing Li Biao Xu Ke Li |
| author_facet | Yao Yao Jun-Hua Cao Yi Guo Zhun Fan Bing Li Biao Xu Ke Li |
| author_sort | Yao Yao |
| collection | DOAJ |
| description | Aiming at the shortcomings of the existing control law based on the global information, this article studies the coverage problem of a given region in the plane using a team of USVs. The coverage goal, which is to cover a given search domain using multiple mobile sensors so that each point is surveyed until a certain preset level is achieved, is formulated in a mathematically precise problem statement. The adaptive control law is presented which enables multi-USV to navigate in a complex environment in the presence of unknown obstacles and guarantees that a fully connected multi-USV system attains the coverage goal. In particular, the dangerous area was divided into two different parts in order to enhance the searching efficiency. Finally, simulation results are presented to validate the feasibility and efficiency of the proposed approach. |
| format | Article |
| id | doaj-art-7c9980a4911743b697e69b1e4ec48697 |
| institution | Kabale University |
| issn | 1550-1477 |
| language | English |
| publishDate | 2021-06-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Distributed Sensor Networks |
| spelling | doaj-art-7c9980a4911743b697e69b1e4ec486972025-02-03T06:45:30ZengWileyInternational Journal of Distributed Sensor Networks1550-14772021-06-011710.1177/15501477211021525Adaptive coverage control for multi-USV system in complex environment with unknown obstaclesYao Yao0Jun-Hua Cao1Yi Guo2Zhun Fan3Bing Li4Biao Xu5Ke Li6Key Laboratory of Digital Signal and Image Processing of Guangdong Province, Shantou, ChinaDepartment of Electronic Engineering, Shantou University, Shantou, ChinaDalian Naval Academy, Dalian, ChinaKey Laboratory of Digital Signal and Image Processing of Guangdong Province, Shantou, ChinaKey Laboratory of Digital Signal and Image Processing of Guangdong Province, Shantou, ChinaKey Laboratory of Digital Signal and Image Processing of Guangdong Province, Shantou, ChinaKey Laboratory of Digital Signal and Image Processing of Guangdong Province, Shantou, ChinaAiming at the shortcomings of the existing control law based on the global information, this article studies the coverage problem of a given region in the plane using a team of USVs. The coverage goal, which is to cover a given search domain using multiple mobile sensors so that each point is surveyed until a certain preset level is achieved, is formulated in a mathematically precise problem statement. The adaptive control law is presented which enables multi-USV to navigate in a complex environment in the presence of unknown obstacles and guarantees that a fully connected multi-USV system attains the coverage goal. In particular, the dangerous area was divided into two different parts in order to enhance the searching efficiency. Finally, simulation results are presented to validate the feasibility and efficiency of the proposed approach.https://doi.org/10.1177/15501477211021525 |
| spellingShingle | Yao Yao Jun-Hua Cao Yi Guo Zhun Fan Bing Li Biao Xu Ke Li Adaptive coverage control for multi-USV system in complex environment with unknown obstacles International Journal of Distributed Sensor Networks |
| title | Adaptive coverage control for multi-USV system in complex environment with unknown obstacles |
| title_full | Adaptive coverage control for multi-USV system in complex environment with unknown obstacles |
| title_fullStr | Adaptive coverage control for multi-USV system in complex environment with unknown obstacles |
| title_full_unstemmed | Adaptive coverage control for multi-USV system in complex environment with unknown obstacles |
| title_short | Adaptive coverage control for multi-USV system in complex environment with unknown obstacles |
| title_sort | adaptive coverage control for multi usv system in complex environment with unknown obstacles |
| url | https://doi.org/10.1177/15501477211021525 |
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