Shijian Jiao , Lu Liu , Zhouhua Peng , Tieshan Li , Weidong Zhang
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引用次数: 0
Abstract
This paper is concerned with the dynamic coverage of multiple autonomous surface vehicles (ASVs) with anisotropic sensing in the presence of static and dynamic obstacles. A collision-free dynamic coverage control strategy, combining coverage control laws and avoidance control laws, is proposed based on directionally constrained sensors. In the coverage control law design, a conical sensor model is utilized to quantify the sensing level and coverage level under anisotropic sensing. Then, the coverage control law is designed for ASVs to achieve the desired coverage level in the target domain. In the avoidance control law design, a conical avoidance function based on improved artificial potential field is developed to guarantee collision-free navigation for ASVs within the sensing angle constraint. The stability of the overall multi-ASV system is proven by the Lyapunov theory. Simulation and experimental results are given to demonstrate the effectiveness of the proposed collision-free dynamic coverage method.
期刊介绍:
Ocean Engineering provides a medium for the publication of original research and development work in the field of ocean engineering. Ocean Engineering seeks papers in the following topics.