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

Yao Yao, Jun-Hua Cao, Yi Guo, Zhun Fan, Bing Li, Biao Xu and Ke Li

International Journal of Distributed Sensor Networks, 2021, vol. 17, issue 6, 15501477211021525

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.

Keywords: Adaptive searching control; multi-USV; potential field method; obstacle avoidance; USV (search for similar items in EconPapers)
Date: 2021
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Persistent link: https://EconPapers.repec.org/RePEc:sae:intdis:v:17:y:2021:i:6:p:15501477211021525

DOI: 10.1177/15501477211021525

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