敏感度函数未知下的非均匀直线覆盖控制算法设计与PLEXE仿真  

Nonuniform line coverage control for a group of unmanned vehicles with unknown density function and its simulation in PLEXE

作　　者：左磊 刘小敏 闫茂德[1] 张野 ZUO Lei;LIU Xiao-min;YAN Mao-de;ZHANG Ye(School of Electronic and Control Engineering,Chang’an University,Xi’an 710064,China)

机构地区：[1]长安大学电子与控制工程学院,西安710064

出　　处：《控制与决策》2021年第9期2095-2102,共8页Control and Decision

基　　金：国家自然科学基金项目(51909008,61803040);陕西省自然科学基金青年项目(2018JQ6098);陕西省科技厅重点研发项目(2019GY-218)。

摘　　要：研究在敏感度函数未知下面向多无人驾驶车辆队列的非均匀直线覆盖控制问题.非均匀直线覆盖控制是指利用一组无人驾驶车辆,根据目标直线(即道路)上的敏感信息分布状态(即敏感度函数),合理地布置无人驾驶车辆,使得该目标直线上敏感度较高的区域得到更多的关注.针对目标直线上敏感度函数未知的情况,设计一种基于曲线拟合与空间相关性的估计算法近似该敏感度函数.在此基础上,提出一种分布式覆盖控制律,能够有效地使无人驾驶车辆行驶到目标路径上的最佳位置,并严格分析所提出的覆盖控制系统的稳定性和覆盖效果.此外,为了验证所提出的覆盖控制算法,利用专业的车辆队列仿真软件(PLEXE)验证所提算法的可行性和有效性.This paper investigates the nonuniform line coverage control problems for a group of unmanned vehicles in unknown environment.The objective of nonuniform line coverage control is to deploy the vehicles to the optimal locations,such that the regions with higher density can get more attention from the vehicles.For the unknown distribution of interested information(density function),a spatial estimation algorithm is presented to approximate the density function.Then,based on the estimated density function,a distributed line coverage control scheme is proposed such that the vehicles can converge to the optimal deployment.The stability and feasibility of the proposed coverage control system are strictly analyzed.Finally,numerical simulations in PLEXE are performed to verify the effectiveness of the proposed approaches.

关 键 词：非均匀直线覆盖 未知环境 环境估计 Voronoi区域分配 无人驾驶车辆队列 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]