Abstract
A distributed encirclement points deployment scheme for a group of autonomous mobile agents is addressed in this paper. Herein, each agent can measure its own azimuth related to the common target and can at least communicate with its two adjacent neighbors. Given its space-cooperative character, the encirclement points deployment problem is formulated as the coverage control problem on a circle. The measurement range of azimuth sensor is taken into consideration when doing problem formulation, which is closer to the facts in real-world applications. Then, the fully distributed control protocols are put forward based on geometric principle and the convergence is proved strictly with algebraic method. The proposed control protocols can steer the mobile agents to distribute evenly on the circle such that the coverage cost function is minimized, and meanwhile the mobile agents' spatial order on the circle is preserved throughout the systems' evolution. A noteworthy feature of the proposed control protocols is that only the azimuths of a mobile agent and its two adjacent neighbors are needed to calculate the mobile agent's control input, so that the control protocols can be easily implemented in general. Moreover, an adjustable feedback gain is introduced, and it can be employed to improve the convergence rate effectively. Finally, numerical simulations are carried out to verify the effectiveness of the proposed distributed control protocols.
Highlights
Cooperative control of autonomous mobile multiagents has received more and more attention and research due to its widespread applications in the growing variety of team tasks, such as environmental monitoring, transportation, search and rescue, pursuit and evasion [1]–[5]
Yan et al.: Distributed Optimal Deployment on a Circle for Cooperative Encirclement problem can be formulated as the coverage control problem on a circle, where the goal is to deploy the mobile agents on the circle so as to satisfy some optimization criteria
The mobile agents are interactive and we assume that each agent can at least communicate with its two adjacent neighbors: left neighbor and right neighbor
Summary
Cooperative control of autonomous mobile multiagents has received more and more attention and research due to its widespread applications in the growing variety of team tasks, such as environmental monitoring, transportation, search and rescue, pursuit and evasion [1]–[5]. P. Yan et al.: Distributed Optimal Deployment on a Circle for Cooperative Encirclement problem can be formulated as the coverage control problem on a circle, where the goal is to deploy the mobile agents on the circle so as to satisfy some optimization criteria. From the aforementioned works about distributed coverage control problem on a circle one can know that the mobile agents are usually assumed to be: i) autonomous, i.e., without a central control, ii) anonymous, i.e., indistinguishable from one another, iii) interactive, i.e., can communicate with each other. The goal of this paper is to design distributed control protocols such that the encirclement points of a group of autonomous mobile agents can reach and remain a state of static equilibrium and distribute evenly on the target-centered circle with order preservation.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
