Guidance Of A Nonholonomic Autonomous Agent For Coverage Applications. Issue 1 (2016)

• Record Type: Journal Article
• Authors: Sahoo, Soumya Ranjan; Agarwal, Akanchha
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 1(2016)
• Page Start: 201
• Page End: 206
• Publication Date: 2016
• Subjects: unicycle model -- area coverage -- guidance; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.03.053
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper addresses the problem of guiding a nonholonomic autonomous agent to cover a region surrounding a maneuvering target. The proposed control algorithm ensures area coverage in the target-centric frame. The coverage region is an annular ring centered around a maneuvering target. The region is defined by the maximum and minimum radii. The control law assumes complete information about the target. The agent follows a virtual agent to cover the designated area. The idea can be extended to a stationary target case. Lyapunov analysis has been done to establish stability. Simulations results for the proposed algorithm are presented.