Paper Info
Title
Coordination of nonholonomic mobile robots for diffusive threat defense
Abstract
This paper studies coordination of a team of nonholonomic mobile robots with smart actuators for defending against invasive threat to a planar convex area. The threat refers to a kind of harmful substance such as chemical pollutant appearing outside and moving towards the area. The invasion of threat can be modeled by a 2D unsteady reaction-diffusion process. To reflect the adverse effect of threat on the area, a so-called risk intensity field is introduced. The value of risk intensity is equal to the concentration of threat measured by a static mesh sensor network. Based on this risk intensity field, a coordination control scenario using Voronoi tessellation is formulated. In order to minimize the actuator performance loss and reduce the total average risk intensity simultaneously, a generalized centroidal Voronoi tessellation (CVT) algorithm including optimal motion control and risk mitigation control is designed. The proposed algorithm is gradient-based and guides mobile robots to track their optimal trajectories asymptotically. Meanwhile, two conditions of choosing control gains are derived to keep the total average risk intensity below a safety level. Several simulation examples with different cases of threat invasion are provided and the advantage of proposed algorithm over traditional control method is presented.
Year
DOI
Venue
2019
10.1016/j.jfranklin.2019.03.014
Journal of the Franklin Institute
Field
DocType
Volume
Mathematical optimization,Motion control,Centroidal Voronoi tessellation,Control theory,Risk management,Voronoi diagram,Wireless sensor network,Mobile robot,Mathematics,Static mesh,Actuator
Journal
356
Issue
ISSN
Citations 
8
0016-0032
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Kai Luo1277.01
Zhihong Guan21704135.76
Changxin Cai311.36
Dingxue Zhang4186.33
Qiang Lai5244.76
Jiang-Wen Xiao61069.86