Coverage Control of Unicycle Agents under Constant Speed Constraints
This paper studies the problem of optimal coverage control over a convex bounded region by a group of unicycle-type mobile agents with constant speeds. We further assume that the constant speeds for different agents may be non-identical. Thus, a unicycle is controlled solely via steering of its orie...
| Main Authors: | , , , , |
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| Format: | Journal Article |
| Published: |
2017
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| Online Access: | http://hdl.handle.net/20.500.11937/84360 |
| _version_ | 1848764641907310592 |
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| author | Liu, Q. Ye, Mengbin Sun, Z. Qin, J. Yu, C. |
| author_facet | Liu, Q. Ye, Mengbin Sun, Z. Qin, J. Yu, C. |
| author_sort | Liu, Q. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper studies the problem of optimal coverage control over a convex bounded region by a group of unicycle-type mobile agents with constant speeds. We further assume that the constant speeds for different agents may be non-identical. Thus, a unicycle is controlled solely via steering of its orientation in which a virtual centre is defined for each unicycle. A basic controller is proposed which asymptotically drive the virtual centres to a Centroidal Voronoi configuration, thus achieving the optimal coverage objective. At the Centroidal Voronoi configuration, each unicycle executes steady-state circular orbit about its virtual centre. To overcome a drawback of the basic controller that requires a careful selection of initial conditions, a modified switching controller is proposed which achieves a Centroidal Voronoi configuration for arbitrarily chosen initial conditions. Simulations for both the basic and modified controllers are presented for a five-unicycle group. |
| first_indexed | 2025-11-14T11:22:36Z |
| format | Journal Article |
| id | curtin-20.500.11937-84360 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T11:22:36Z |
| publishDate | 2017 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-843602021-07-13T03:55:31Z Coverage Control of Unicycle Agents under Constant Speed Constraints Liu, Q. Ye, Mengbin Sun, Z. Qin, J. Yu, C. This paper studies the problem of optimal coverage control over a convex bounded region by a group of unicycle-type mobile agents with constant speeds. We further assume that the constant speeds for different agents may be non-identical. Thus, a unicycle is controlled solely via steering of its orientation in which a virtual centre is defined for each unicycle. A basic controller is proposed which asymptotically drive the virtual centres to a Centroidal Voronoi configuration, thus achieving the optimal coverage objective. At the Centroidal Voronoi configuration, each unicycle executes steady-state circular orbit about its virtual centre. To overcome a drawback of the basic controller that requires a careful selection of initial conditions, a modified switching controller is proposed which achieves a Centroidal Voronoi configuration for arbitrarily chosen initial conditions. Simulations for both the basic and modified controllers are presented for a five-unicycle group. 2017 Journal Article http://hdl.handle.net/20.500.11937/84360 10.1016/j.ifacol.2017.08.412 unknown |
| spellingShingle | Liu, Q. Ye, Mengbin Sun, Z. Qin, J. Yu, C. Coverage Control of Unicycle Agents under Constant Speed Constraints |
| title | Coverage Control of Unicycle Agents under Constant Speed Constraints |
| title_full | Coverage Control of Unicycle Agents under Constant Speed Constraints |
| title_fullStr | Coverage Control of Unicycle Agents under Constant Speed Constraints |
| title_full_unstemmed | Coverage Control of Unicycle Agents under Constant Speed Constraints |
| title_short | Coverage Control of Unicycle Agents under Constant Speed Constraints |
| title_sort | coverage control of unicycle agents under constant speed constraints |
| url | http://hdl.handle.net/20.500.11937/84360 |