Distributed Coordination of Wheeled Mobile Robots for Unknown Moving Targets Interception

Kai Luo, Bin Hu, Z. Guan, Xuemin Shen
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引用次数: 1

Abstract

This paper investigates distributed coordination of a team of wheeled mobile robots for multiple moving targets interception over a convex domain. In order to successfully intercept potential intruders entering the mission domain from different orientations, mobile robots are dynamically deployed to monitor the whole area and track moving targets once they are detected at a certain location. Due to the lack of knowledge about the numbers and online dynamic models of targets, a time-varying priority function indicating the most probable area where these targets may appear is introduced to increase the chance of intercepting them. Meanwhile, a target switching mechanism is employed to decide when targets should be considered by each mobile robot for interception task. Based on this priority function, a novel distributed coverage control law is designed to guarantee that wheeled mobile robots asymptotically converge to their generalized Centroidal Voronoi Tessellation and minimize the cost function with respect to those moving targets. Simulation results are given to present the advantage of the proposed approach over traditional coverage control strategy.
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轮式移动机器人拦截未知运动目标的分布式协调
研究了一组轮式移动机器人在凸域上拦截多个运动目标时的分布式协调问题。为了成功拦截从不同方向进入任务域的潜在入侵者,动态部署移动机器人对整个区域进行监控,并在某个位置检测到移动目标后对其进行跟踪。由于缺乏对目标数量和在线动态模型的了解,引入了一个时变的优先级函数来指示这些目标最可能出现的区域,以增加拦截它们的机会。同时,采用目标切换机制来决定每个移动机器人在拦截任务中应该考虑哪些目标。在此基础上,设计了一种新的分布式覆盖控制律,以保证轮式移动机器人渐近收敛于其广义质心Voronoi镶嵌,并使其相对于运动目标的代价函数最小。仿真结果表明,该方法优于传统的覆盖控制策略。
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