Coverage control of mobile sensor networks with directional sensing

Zhiyang Ju; Hui Zhang; Ying Tan; Xiang Chen; Zhiyang Ju; Hui Zhang; Ying Tan; Xiang Chen

doi:10.3934/mbe.2022134

Mathematical Biosciences and Engineering

2022, Volume 19, Issue 3: 2913-2934. doi: 10.3934/mbe.2022134

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Research article Special Issues

Coverage control of mobile sensor networks with directional sensing

1.
School of Transportation Science and Technology, Beihang University, Beijing 100191, China
2.
Ningbo Institute of Technology (NIT), Beihang University, Ningbo 315323, China
3.
Department of Mechanical Engineering, University of Melbourne, Melbourne, VIC 3010, Australia
4.
Department of Electrical and Computer Engineering, University of Windsor, Windsor, ON N9B 3P4, Canada

Academic Editor: Hamid Reza Karimi

Received: 29 October 2021 Revised: 15 December 2021 Accepted: 21 December 2021 Published: 17 January 2022

Control design of mobile sensors for coverage problem is addressed in this paper. The mobile sensors have non-linear dynamics and directional sensing properties which mean the sensing performance is also affected by the pointing directions of the sensors. Different from the standard optimal coverage problem where sensors are assumed to be omni-directional ones, orientation angles of the directional sensors should also be controlled, other than the position control, to achieve the coverage purpose. Considering also the non-linear dynamics of the mobile sensors, new control methodology is necessarily developed for the coverage problem with directional sensors. In the approach proposed, an innovative gradient based non-smooth motion controller is designed for the mobile sensors with unicycle dynamics. With the proposed controllers, the states of sensors will always stay in an positive invariant set where the gradient of the performance valuation function is well-defined if they are initialized within this set. Moreover, the sensors' states are proved to converge to some critical point where the gradient is zero. Simulation results are provided to illustrate the performance of the proposed coverage control strategy.
- coverage control,
- sensor networks,
- directional sensors,
- gradient-based control,
- distributed control
Citation: Zhiyang Ju, Hui Zhang, Ying Tan, Xiang Chen. Coverage control of mobile sensor networks with directional sensing[J]. Mathematical Biosciences and Engineering, 2022, 19(3): 2913-2934. doi: 10.3934/mbe.2022134

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Abstract

Control design of mobile sensors for coverage problem is addressed in this paper. The mobile sensors have non-linear dynamics and directional sensing properties which mean the sensing performance is also affected by the pointing directions of the sensors. Different from the standard optimal coverage problem where sensors are assumed to be omni-directional ones, orientation angles of the directional sensors should also be controlled, other than the position control, to achieve the coverage purpose. Considering also the non-linear dynamics of the mobile sensors, new control methodology is necessarily developed for the coverage problem with directional sensors. In the approach proposed, an innovative gradient based non-smooth motion controller is designed for the mobile sensors with unicycle dynamics. With the proposed controllers, the states of sensors will always stay in an positive invariant set where the gradient of the performance valuation function is well-defined if they are initialized within this set. Moreover, the sensors' states are proved to converge to some critical point where the gradient is zero. Simulation results are provided to illustrate the performance of the proposed coverage control strategy.

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