Coverage Control for Mobile Sensor Networks with Input Saturation
Cheng Song, Lu Liu, Gang Feng · Unmanned Systems · 2016
This paper addresses the coverage control problem for a network of mobile sensors with first-order discrete-time dynamics, where the goal is to minimize a coverage cost function which is defined as the largest distance between any point on a circle and its nearest sensor. Since in practice sensors’ moving speed is always upper bounded, there exist saturation constraints on the control inputs of the mobile sensors. In this paper, distributed coverage control laws with input saturation are developed to drive the sensors to the final configuration such that the coverage cost function is minimized. It is also shown that the spatial order of the mobile sensors is preserved throughout the network’s evolution. As a result, collision avoidance between mobile sensors is always guaranteed.