Decentralized Control of Mobile Robotic Sensors for a Smooth Sweep Coverage along an Arbitrary Boundary
Waqqas Ahmad · 2013
This paper addresses the decentralized control of mobile robotic sensors performing sweep coverage along an arbitrary boundary. Current sweep coverage control does not exhibit a smooth trajectory for a mobile robotic sensor when following an abrupt change in the direction of an arbitrary boundary. Simulation results of the recent sweep coverage problem reveal that the control needs to be more sensitive for some of the mobile robotic sensor(s) after the detection of an arbitrary boundary. The goal is to attain a smooth sweep coverage along an arbitrary boundary by a swarm of mobile robots which are driven under decentralised control strategy. We introduce normalised weighting factors as part of the mobile robotic sensors consensus to calculate nearest neighbour rules. Current simulation results demonstrate that the weighted average functions to calculate nearest neighbour rules give rise to a smooth sweeping trajectory for each mobile robot detecting an arbitrary boundary. The concept of these weighted average functions also make some of the mobile robotic sensor(s) more sensitive in following an abrupt change in the direction of an arbitrary boundary.