شماره ركورد كنفرانس :
3208
عنوان مقاله :
Dynamic Coverage Control via Underactuated Autonomous Underwater Vehicles in Unknown 3D Environment
پديدآورندگان :
Shamshirgaran, Azin The Center of Exellence on Control and Robotics - Amirkabir University of Thechnology , Abdollahi, Farzaneh The Center of Exellence on Control and Robotics - Amirkabir University of Thechnology
كليدواژه :
Multiagent System , Coverage Control , (Autonomus Underwater Vehicles(AUV , Decentralized control
عنوان كنفرانس :
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
The dynamic coverage procedure for a group of
non-holonomic agents in 3D unknown environment is studied in
this paper. First, the chained model of the system is exploited.
Then, a cost function which its efficiency is proved by Lyapunov
function in order to obtain control inputs is proposed. Besides,
the reachable set for each agent is derived according to obtained
control inputs and is applied to the group. Finally, the simulation
results illustrate the performance of the suggested algorithm.
