Dynamic coverage control via underactuated autonomous underwater vehicles in unknown 3D environment
Azin Shamshirgaran, Farzaneh Abdollahi · 2016
The dynamic coverage procedure for a group of non-holonomic agents in 3D unknown environment is studied in this paper. First, the chained model of the system is exploited. Then, a cost function which its efficiency is proved by Lyapunov function in order to obtain control inputs is proposed. Besides, the reachable set for each agent is derived according to obtained control inputs and is applied to the group. Finally, the simulation results illustrate the performance of the suggested algorithm.