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| DOI：https://doi.org/10.1007/s11768-018-8079-0 |
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| 基金项目:This work was partially supported by the National Natural Science Foundation of China (Nos. 61473099, 61333001). |
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| Multi-agent coverage control design with dynamic sensing regions |
| Longbiao MA,Fenghua HE,Long WANG,Yu YAO |
| (Control and Simulation Center, Harbin Institute of Technology, Harbin Heilongjiang 150080, China;Control and Simulation Center, Harbin Institute of Technology, Harbin Heilongjiang 150080, China Received 9) |
| Abstract: |
| A cooperative region reconnaissance problem is considered in this paper where a group of agents are required to reconnoitre
a region of interest. A main 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. |
| Key words: Effective coverage, multi-agent systems, region reconnaissance, altitude constraint, dynamic sensing regions |
