期刊名称：International Journal on Electrical Engineering and Informatics
印刷版ISSN：2085-6830
出版年度：2019
卷号：11
期号：1
页码：125-143
DOI：10.15676/ijeei.2019.11.1.8
出版社：School of Electrical Engineering and Informatics
摘要：In this paper, Gaussian Process Regression (GPR) is used to estimate the time-invariantsensory function by multi-robots while performing coverage control in an environment withknown obstacles. Multi-robots are deployed to explore and exploit the unknown sensory functionin a given area based on their centroid of Voronoi partition. The trade-off between explorationand exploitation is weighted based on the maximum posterior variance calculated using GPR.Each robot uses the Hybrid Reciprocal Velocity Obstacle (HRVO) method to navigate withouthaving a collision with either its neighbors or the obstacles. The presence of the obstacles maycause the Voronoi polygon is not convex so that the centroid is probably located inside theobstacle. Consequently, the centroid must be moved to the reachable point. Then, the reachablepoint is chosen to make the cost of coverage function, which is a function of the reachabledistance and its sensory function, to be minimum. The two main contributions in this paper are:(1) Integrating estimation and coverage control based on GPR with HRVO method and (2) Anenhanced strategy which adds termination iteration rule to increase the estimation and coveragetime performance. Software simulations are conducted to compare the performance results byusing different the number of obstacles and their locations, the number of robots, and thestrategies.
