Long Duration Coverage Control of Multiple Robotic Surface Vehicles Under Battery Energy Constraints  

作　　者：Shengnan Gao Zhouhua Peng Haoliang Wang Lu Liu Dan Wang 

机构地区：[1]the School of Electrical and Control Engineering,North China University of Technology,Beijing 100144 [2]the School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China [3]State Key Laboratory of Maritime Technology and Safety,Dalian 116026 [4]Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships,Dalian 116026 [5]the School of Marine Engineering,Dalian Maritime University,Dalian 116026

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第7期1695-1698,共4页自动化学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China (51939001,52301408);the National Science and Technology Major Project (2022ZD0119 902);the Key Basic Research of Dalian (2023JJ11CG008);the Dalian Science and Technology Innovation Fund (2022JJ12GX034);the Dalian Outstanding Young Scientific and Technological Talents Project (2022RY07)。

摘　　要：Dear Editor,This letter addresses long duration coverage problem of multiple robotic surface vehicles(RSVs) subject to battery energy constraints,in addition to uncertainties and disturbances. An anti-disturbance energy-aware control method is proposed for performing coverage task of RSVs. Firstly, a centroidal Voronoi tessellation(CVT) is used to optimize the partition of the given coverage area.

关 键 词：ROBOTIC BATTERY PARTITION 

分 类 号：U463.6[机械工程—车辆工程] TP242[交通运输工程—载运工具运用工程]