Adaptive coverage control for multi-USV system in complex environment with unknown obstacles

2021 ◽  
Vol 17 (6) ◽  
pp. 155014772110215
Author(s):  
Yao Yao ◽  
Jun-Hua Cao ◽  
Yi Guo ◽  
Zhun Fan ◽  
Bing Li ◽  
...  
Keyword(s):  
Mobile Sensors ◽  
Control Law ◽  
Global Information ◽  
Complex Environment ◽  
Coverage Problem ◽  
Problem Statement ◽  
Fully Connected ◽  
Adaptive Control Law ◽  
Different Parts ◽  
Search Domain

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.

A road-adaptive control law for semi-active suspensions

1999 ◽  
Vol 13 (10) ◽  
pp. 667-676 ◽  
Author(s):  
Youngjoo Cho ◽  
Byung Suk Song ◽  
Kyongsu Yi
Keyword(s):  
Adaptive Control ◽  
Control Law ◽  
Active Suspensions ◽  
Adaptive Control Law

Coverage Control for Mobile Sensor Networks on a Circle

2014 ◽  
Vol 02 (03) ◽  
pp. 243-248 ◽  
Author(s):  
Cheng Song ◽  
Gang Feng
Keyword(s):  
Sensor Networks ◽  
Mobile Agents ◽  
Mobile Sensor Networks ◽  
Mobile Sensors ◽  
Mobile Sensor ◽  
Coverage Problem ◽  
Control Laws ◽  
Coverage Control ◽  
Order Preservation ◽  
Multi Agent

This paper investigates the coverage problem for mobile sensor networks on a circle. The goal is to minimize the largest distance from any point on the circle to its nearest sensor while preserving the mobile sensors' order. The coverage problem is translated into a multi-agent consensus problem by showing that the largest distance from any point to its nearest sensor is minimized if the counterclockwise distance between each sensor and its right neighbor reaches a consensus. Distributed control laws are also developed to drive the mobile agents to the optimal configuration with order preservation. Simulation results illustrate the effectiveness of the proposed control laws.

scholarly journals Efficient Algorithms for Max-Weighted Point Sweep Coverage on Lines

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1457
Author(s):  
Dieyan Liang ◽  
Hong Shen
Keyword(s):  
Optimal Algorithm ◽  
Approximate Solutions ◽  
Approximation Ratio ◽  
Mobile Sensors ◽  
Np Hard ◽  
Coverage Problem ◽  
Polynomial Time Approximation Algorithm ◽  
Weighted Point ◽  
Eulerian Graph ◽  
Set Of Points

As an important application of wireless sensor networks (WSNs), deployment of mobile sensors to periodically monitor (sweep cover) a set of points of interest (PoIs) arises in various applications, such as environmental monitoring and data collection. For a set of PoIs in an Eulerian graph, the point sweep coverage problem of deploying the fewest sensors to periodically cover a set of PoIs is known to be Non-deterministic Polynomial Hard (NP-hard), even if all sensors have the same velocity. In this paper, we consider the problem of finding the set of PoIs on a line periodically covered by a given set of mobile sensors that has the maximum sum of weight. The problem is first proven NP-hard when sensors are with different velocities in this paper. Optimal and approximate solutions are also presented for sensors with the same and different velocities, respectively. For M sensors and N PoIs, the optimal algorithm for the case when sensors are with the same velocity runs in O(MN) time; our polynomial-time approximation algorithm for the case when sensors have a constant number of velocities achieves approximation ratio 12; for the general case of arbitrary velocities, 12α and 12(1−1/e) approximation algorithms are presented, respectively, where integer α≥2 is the tradeoff factor between time complexity and approximation ratio.

scholarly journals Adaptive Projective Synchronization between Two Different Fractional-Order Chaotic Systems with Fully Unknown Parameters

2012 ◽  
Vol 2012 ◽  
pp. 1-16 ◽  
Author(s):  
Liping Chen ◽  
Shanbi Wei ◽  
Yi Chai ◽  
Ranchao Wu
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Projective Synchronization ◽  
Control Law ◽  
Unknown Parameters ◽  
Chen System ◽  
Fractional Order Differential Equations ◽  
Response Systems ◽  
The Stability ◽  
Adaptive Control Law

Projective synchronization between two different fractional-order chaotic systems with fully unknown parameters for drive and response systems is investigated. On the basis of the stability theory of fractional-order differential equations, a suitable and effective adaptive control law and a parameter update rule for unknown parameters are designed, such that projective synchronization between the fractional-order chaotic Chen system and the fractional-order chaotic Lü system with unknown parameters is achieved. Theoretical analysis and numerical simulations are presented to demonstrate the validity and feasibility of the proposed method.

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