Persistent Coverage in Non-Convex Environments with Heterogeneous Robotic Networks: Constraint-based Approach⋆
Javier García Martín, Takeshi Hatanaka, Jose Maria Maestre, Eduardo F. Camacho · IFAC-PapersOnLine · 2023
In this paper, we extend a constraint-based coverage control for robotic sensor networks based on control barrier functions (CBFs) for environments with known obstacles and different types of unmanned vehicles (UV). To this end, we use a sensing function that considers the vertices of the obstacles to compute the route and the distance regarding the UVs. This way, obstacle avoidance becomes intrinsic to the CBF ensuring the coverage performance. Moreover, we consider different obstacles and speeds for each type of UV. Finally, the proposed algorithm is illustrated with a heterogeneous fleet of UVs and obstacles in a simulated thermosolar power plant.