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Adaptive coverage control for multi-USV system in complex environment with unknown obstacles

Author

Listed:
  • Yao Yao
  • Jun-Hua Cao
  • Yi Guo
  • Zhun Fan
  • Bing Li
  • Biao Xu
  • Ke Li

Abstract

Aiming at the shortcomings of the existing control law based on the global information, this article studies the coverage problem of a given region in the plane using a team of USVs. The coverage goal, which is to cover a given search domain using multiple mobile sensors so that each point is surveyed until a certain preset level is achieved, is formulated in a mathematically precise problem statement. The adaptive control law is presented which enables multi-USV to navigate in a complex environment in the presence of unknown obstacles and guarantees that a fully connected multi-USV system attains the coverage goal. In particular, the dangerous area was divided into two different parts in order to enhance the searching efficiency. Finally, simulation results are presented to validate the feasibility and efficiency of the proposed approach.

Suggested Citation

  • Yao Yao & Jun-Hua Cao & Yi Guo & Zhun Fan & Bing Li & Biao Xu & Ke Li, 2021. "Adaptive coverage control for multi-USV system in complex environment with unknown obstacles," International Journal of Distributed Sensor Networks, , vol. 17(6), pages 15501477211, June.
    • Handle: RePEc:sae:intdis:v:17:y:2021:i:6:p:15501477211021525
    DOI: 10.1177/15501477211021525
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