Title :
Coverage tracking of a moving target by a group of mobile agents
Author :
Wang, Xiaoli ; Hong, Yiguang ; Jiang, Zhong-Ping
Author_Institution :
Key Lab. of Syst. & Control, Chinese Acad. of Sci., Beijing, China
Abstract :
In this paper, we consider finite-time tracking problems of a moving target by multiple mobile agents. The mobile agents with global sensing areas and limited actuation region are designed to track down a target with estimation error with the help of formation and coverage. In order to capture the target, its location and velocity are first estimated. With observer-based estimation and formation control, the group of agents can catch the target by a coverage tracking policy in finite time.
Keywords :
error statistics; mobile robots; observers; tracking; coverage tracking; estimation error; finite-time tracking problem; formation control; global sensing area; mobile agent; observer-based estimation; Collaboration; Control systems; Estimation error; Mobile agents; Power system modeling; Power system reliability; Robot kinematics; Robot sensing systems; State estimation; Target tracking; Finite-time coverage; Formation control; Mobile agents; Sensor networks; Tracking;
Conference_Titel :
Asian Control Conference, 2009. ASCC 2009. 7th
Conference_Location :
Hong Kong
Print_ISBN :
978-89-956056-2-2
Electronic_ISBN :
978-89-956056-9-1
