NDLI: Optimal Spraying Control of a Diffusion Process Using Mobile Actuator Networks with Fractional Potential Field Based Dynamic Obstacle Avoidance

Content Provider	IEEE Xplore Digital Library
Author	YangQuan Chen Zhongmin Wang Moore, K.L.
Copyright Year	2006
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT (YangQuan Chen; Zhongmin Wang)
Abstract	The path planning problem for a group of networked mobile robots which can release neutralizing chemicals, known as "mobile actuator networks", is considered. With a group of static networked mesh sensors network, the "mobile actuator networks" aim to neutralize a toxic 2D diffusion process modelled as a distributed parameter system (DPS) governed by a partial differential equation (PDE) of parabolic type. The problem of optimally planning motion trajectories of the mobile actuators (robots) is solved by centroidal Voronoi tessellations (CVT). In addition, the fractional potential field method is used for the mobile robots to avoid dynamic obstacles in its working space. Simulation results show the effectiveness of our proposed method
Sponsorship	IEEE SYSTEMS, MAN AND CYBERNETICS SOC
Starting Page	107
Ending Page	112
File Size	592440
Page Count	6
File Format	PDF
ISBN	1424400651
DOI	10.1109/ICNSC.2006.1673126
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-04-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Spraying Optimal control Diffusion processes Actuators Mobile robots Path planning Chemical sensors Sensor systems Distributed parameter systems Partial differential equations fractional potential field Diffusion process pollution neutralization Centroidal Voronoi Tessellation distributed parameter system simulation
Content Type	Text
Resource Type	Article

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