Coverage control considering unknown moving obstacles avoidance
Marzieh Kooshkbaghi, Farzaneh Abdollahi · 2014
This paper presents a new approach for coverage an environment in the presence of unknown moving obstacles. A time varying density function is proposed which represents the importance of each point and causes system to avoid collision with obstacles. A control law is presented to make agents follow the density function and avoid unknown moving obstacles while they provide the optimal coverage. The proposed algorithm is decentralized and less computationally expensive comparing to the previous related approaches.