Hostname: page-component-89b8bd64d-n8gtw Total loading time: 0 Render date: 2026-05-08T13:58:14.054Z Has data issue: false hasContentIssue false
  • English
  • Français

Distributed model predictive coverage control for decoupled mobile robots

Published online by Cambridge University Press:  24 November 2015

F. Mohseni ,
A. Doustmohammadi  and
M. B. Menhaj
F. Mohseni*
Affiliation:
Amirkabir University of Technology, Tehran Polytechnic, Tehran 15875-4413, Iran
A. Doustmohammadi
Affiliation:
Amirkabir University of Technology, Tehran Polytechnic, Tehran 15875-4413, Iran
M. B. Menhaj
Affiliation:
Amirkabir University of Technology, Tehran Polytechnic, Tehran 15875-4413, Iran
*
*Corresponding author. E-mail: fatememohseni@aut.ac.ir, dad@aut.ac.ir, menhaj@aut.ac.ir
Get access Rights & Permissions [Opens in a new window]

Summary

A distributed coverage control scheme based on the state space model predictive control, which is known as receding horizon control (RHC) for decoupled systems, is presented. An optimal control problem is formulated for a set of decoupled robotic systems where a cost function couples the dynamical behavior of the robots. The coupling is described through a connected graph using a Voronoi diagram, where each robot is a node and the cost and constraints of the optimization problem associated with each robot are a function of its state and of the states of its neighbors. The complexity of the problem is addressed by breaking a centralized receding horizon controller into distinct RHC controllers of smaller sizes. Each RHC controller is associated with a different node and it computes the local control inputs based only on the position of the robot and that of its neighbors. The stability of the distributed scheme is analyzed and its properties compared with the linear quadratic regulator (LQR) design which has been proposed in the literature. Moreover, the proposed coverage algorithm is also applied to deploy a group of mobile robots in a desired formation pattern. The simulation results are used to illustrate the good performance of the proposed coverage control scheme.

Keywords

Coverage controlDistributed controlOptimizationReceding horizon controlStability

Information

Type
Articles
Information
Robotica , Volume 35 , Issue 4 , April 2017 , pp. 922 - 941
Copyright
Copyright © Cambridge University Press 2015 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1. Tomlin, C., Pappas, G. J. and Sastry, S., “Conflict resolution for air traffic management: A study in multiagent hybrid systems,” IEEE Trans. Autom. Control 43 (4), 509–521 (1998).Google Scholar
2. D'Andrea, R. and Dullerud, G. E., “Distributed control design for spatially interconnected systems,” IEEE Trans. Autom. Control 48 (9), 1478–1495 (2003).Google Scholar
3. Motee, N. and Jadbabaie, A., “Optimal control of spatially distributed systemse,” IEEE Trans. Autom. Control 53 (7), 1616–1629 (2008).Google Scholar
4. Mohseni, F., Doustmohammadi, A. and Menhaj, M. B., “Distributed receding horizon coverage control for multiple non-holonomic mobile robots,” 11th IFAC conference on Programmable Devices and Embedded Systems, Brno, Czech Republic (2012), vol. 11, no. 1, pp. 97–102.Google Scholar
5. Cortes, J., Martinez, S., Karatas, T. and Bullo, F., “Coverage control for mobile sensing networks,” IEEE Trans. Robot. Autom. 20 (2), 243–255 (Apr. 2004).Google Scholar
6. Mohseni, F., Doustmohammadi, A. and Menhaj, M. B., “Centralized Receding Horizon Coverage Control for Mobile Sensory Networks,” IEEE third International Conference on Intelligent Systems Modelling and Simulation, Kota Kinabalu, Malaysia (2012) pp. 588–593.Google Scholar
7. Mohseni, F., Doustmohammadi, A. and Menhaj, M. B., “Distributed Receding Horizon Coverage Control for Multiple Mobile Robots,” IEEE Syst. J., no. 1, pp. 1–10 (2014).Google Scholar
8. Schwager, M., Rus, D., and Slotine, J.-J., “Decentralized, Adaptive Control for Coverage with Networked Robots,” Int. J. Robot. 28 (3), 357–375 (2009).Google Scholar
9. Okabe, A., Boots, B., Sugihara, K., and Chiu, S. N., Spatial Tessellations: Concepts and Applications of Voronoi Diagrams (Wiley Series in Probability and Statistics). Wiley, New York, NY, USA (2000), p. 696.Google Scholar
10. Defoort, M., “Distributed Receding Horizon Planning for Multi-Robot Systems,” IEEE International Conference on Control Applications, Yokohama (2010) pp. 1263–1268.Google Scholar
11. Jadbabaie, A. and Morse, A. S., “Coordination of groups of mobile autonomous agents using nearest neighbor rules,” IEEE Trans. Autom. Control 48 (6), 988–1001 (Jun. 2003).Google Scholar
12. Dunbar, W. B. and Murray, R. M., “Distributed receding horizon control for multi-vehicle formation stabilization,” Automatica 42 (4), 549–558 (Apr. 2006).Google Scholar
13. Meguerdichian, S., Koushanfar, F., Potkonjak, M. and Srivastava, M. B., “Coverage problems in wireless ad-hoc sensor networks,” in IEEE Twentieth Annual Joint Conference of the Computer and Communications Society (Cat. No.01CH37213), Anchorage, AK (2001), vol. 3, pp. 1380–1387.Google Scholar
14. Aurenhammer, F., “Voronoi Diagrams—a survey of a fundamental geometric data structure,” ACM Computing Surveys (CSUR), vol. 23, issue 3, New York, NY, USA (Sept. 1991) pp. 345–405.Google Scholar
15. Mohseni, F., Doustmohammadi, A., and Menhaj, M. B., “Distributed Receding Horizon Coverage Control for Mobile Sensory Networks,” IEEE third International Conference on Intelligent Systems Modelling and Simulation, Kota Kinabalu, Malaysia, (2012), pp. 594–599.Google Scholar
16. Mayne, D. Q. and Michalska, H., “Receding horizon control of nonlinear systems,” IEEE Trans. Autom. Control 35 (7), 814–824 (1990).Google Scholar
17. Khalil, H. K., Nonlinear Systems, (3rd ed.) (Prentice Hall, New Jersey, 2001) p. 750.Google Scholar
18. Kazuo Sugihara, I. S., “Distributed algorithm for formation of geometric patterns with many mobile robots,” J. Robot. Syst. 13 (3), 127–139 (1996).Google Scholar
19. Balch, R. C. and Arkin, T., “Behavior-based formation control for multi-robot teams,” IEEE Trans. Robot. Autom. 14 (6), 926–939 (1998).Google Scholar
20. Mohseni, F., Doustmohammadi, A. and Menhaj, M. B., “Distributed receding horizon formation control by multiple mobile robots using Voronoi-based coverage,” 11th IFAC Conference on Programmable Devices and Embedded Systems, vol. 11, part 1, Brno, Czech Republic, pp. 103–108.Google Scholar