Coverage control in constant flow environments based on a mixed energy-time metric

作     者：Ru, Yu Martinez, Sonia 

作者机构：GE Global Res Shanghai Peoples R China Univ Calif San Diego Dept Mech & Aerosp Engn San Diego CA 92103 USA 

出 版 物：《AUTOMATICA》 (自动学)

年 卷 期：2013年第49卷第9期

页      面：2632-2640页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0701[理学-数学] 071101[理学-系统理论] 

基　　金：NSF [CNS-0930946, CMMI-0643679] Direct For Computer & Info Scie & Enginr Division Of Computer and Network Systems Funding Source: National Science Foundation 

主　　题：Coverage control Flow environment Minimum energy control Voronoi partitions Hybrid systems 

摘      要：In this paper, we study a multi-vehicle coverage control problem in constant flow environments while taking into account both energy consumption and traveling time. More specifically, the metric (called the mixed energy-time metric) is a weighted sum of the energy consumption and the traveling time for a vehicle to travel from one point to another in constant flows when using the minimum energy control, and the objective is to find vehicle locations that can minimize the expected mixed energy-time required for the set of vehicles to cover a region. We propose a gradient based control law which is calculated based on refined approximated Voronoi cells (induced by the mixed energy-time metric) and of which the convergence is proved via Hybrid Systems Theory. Simulations show that the refined gradient based control can achieve similar performance as the exact gradient based control. (C) 2013 Elsevier Ltd. All rights reserved.