Actuation scheduling in mobile actuator networks for spatial-temporal feedback control of a diffusion process with dynamic obstacle avoidance

Author

Chen, YangQuan ; Wang, Zhongmin ; Liang, Jinsong

Author_Institution

Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT, USA

Volume

2

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

752

Abstract

In this paper, we discuss the problem of path planning for a group of networked mobile robots which can release neutralizing chemicals, known as "mobile actuator networks", to neutralize the toxic 2D diffusion process modelled by a parabolic PDE distributed parameter system. The desired trajectory of the robot is decided by centroidal Voronoi tessellations. Potential field method is used for the mobile robots to avoid dynamic obstacles in its working space. Simulation results show the effectiveness of our proposed method.

Keywords

actuators; chemical variables control; collision avoidance; computational geometry; diffusion; distributed parameter systems; feedback; mobile robots; parabolic equations; partial differential equations; pollution control; scheduling; actuation scheduling; centroidal Voronoi tessellations; dynamic obstacle avoidance; dynamic obstacles; mobile actuator networks; networked mobile robots; neutralizing chemicals; parabolic PDE distributed parameter system; path planning; pollution neutralization; potential field method; spatial-temporal feedback control; toxic 2D diffusion process; Actuators; Chemical processes; Diffusion processes; Distributed parameter systems; Dynamic scheduling; Feedback control; Mobile robots; Orbital robotics; Path planning; Toxic chemicals;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626644

Filename

1626644