Coverage control of mobile sensor networks with directional sensing

Area of Science:

• Robotics
• Control Systems Engineering
• Sensor Networks

Background:

• Mobile sensors often have non-linear dynamics and directional sensing capabilities.
• Traditional coverage problems assume omni-directional sensors, neglecting orientation control.

Purpose of the Study:

• To develop a novel control methodology for mobile sensors with non-linear dynamics and directional sensing properties.
• To address the challenge of controlling both position and orientation for optimal area coverage.

Main Methods:

• Design of an innovative gradient-based non-smooth motion controller for mobile sensors with unicycle dynamics.
• Ensuring sensor states remain within a positive invariant set for well-defined performance gradients.
• Proving convergence of sensor states to a critical point with a zero gradient.

Main Results:

• The proposed controller effectively manages mobile sensor dynamics and directional sensing.
• Sensor states are guaranteed to remain in a stable, positive invariant set.
• Convergence to an optimal coverage state (zero gradient) is mathematically proven.

Conclusions:

• The developed gradient-based non-smooth motion controller is effective for coverage problems with directional mobile sensors.
• The methodology ensures stable operation and convergence towards optimal coverage.
• Simulation results validate the proposed control strategy's performance.