Optimal Spraying Control of a Diffusion Process Using Mobile Actuator Networks with Fractional Potential Field Based Dynamic Obstacle Avoidance

Author

Chen, YangQuan ; Wang, Zhongmin ; Moore, Kevin L.

Author_Institution

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

fYear

0

fDate

0-0 0

Firstpage

107

Lastpage

112

Abstract

The path planning problem for a group of networked mobile robots which can release neutralizing chemicals, known as "mobile actuator networks", is considered. With a group of static networked mesh sensors network, the "mobile actuator networks" aim to neutralize a toxic 2D diffusion process modelled as a distributed parameter system (DPS) governed by a partial differential equation (PDE) of parabolic type. The problem of optimally planning motion trajectories of the mobile actuators (robots) is solved by centroidal Voronoi tessellations (CVT). In addition, the fractional 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; collision avoidance; distributed parameter systems; distributed sensors; mobile robots; optimal control; parabolic equations; partial differential equations; spraying; centroidal Voronoi tessellations; distributed parameter system; dynamic obstacle avoidance; fractional potential field method; mobile actuator networks; networked mobile robots; neutralizing chemicals; optimal motion trajectory planning; optimal spraying control; parabolic partial differential equation; path planning problem; static networked mesh sensors network; toxic 2D diffusion process; Actuators; Chemical sensors; Diffusion processes; Distributed parameter systems; Mobile robots; Optimal control; Partial differential equations; Path planning; Sensor systems; Spraying; Centroidal Voronoi Tessellation; Diffusion process; distributed parameter system simulation; fractional potential field; pollution neutralization;

fLanguage

English

Publisher

ieee

Conference_Titel

Networking, Sensing and Control, 2006. ICNSC '06. Proceedings of the 2006 IEEE International Conference on

Conference_Location

Ft. Lauderdale, FL

Print_ISBN

1-4244-0065-1

Type

conf

DOI

10.1109/ICNSC.2006.1673126

Filename

1673126