Leader-Follower Coverage based on Power Transmission and Heading Angles

E. G. Hernandez-Martinez, J. Gonzalez-Sierra, E. Alvarez-Guzman, G. Fernandez-Anaya, E. Ferreira-Vazquez, J. J. Flores-Godoy

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

When a group of mobile robots is deployed in a workspace in order to enable a sensor network to cover an area, they must maintain a proximity where its wireless communication remain connected. This paper studies the coverage control based on the heading angles and the measurement of the power level of the Received Signal Strength Indication (RSSI) of the wireless devices mounted over the robots. The main objective is to maintain a desired power level and relative angles avoiding global coordinates. The problem is defined as a generalization of the leader-follower scheme, adding the e ects of the antenna lobe. The gain parameters are modified to prioritize the convergence of the power or the angles using numerical simulations. Finally, the approach is simulated using two omnidirectional wheeled mobile robots.

Original languageEnglish
Title of host publication2020 IEEE 63rd International Midwest Symposium on Circuits and Systems, MWSCAS 2020 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages369-372
Number of pages4
ISBN (Electronic)9781538629161
DOIs
StatePublished - Aug 2020
Event63rd IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2020 - Springfield, United States
Duration: 9 Aug 202012 Aug 2020

Publication series

NameMidwest Symposium on Circuits and Systems
Volume2020-August
ISSN (Print)1548-3746

Conference

Conference63rd IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2020
Country/TerritoryUnited States
CitySpringfield
Period9/08/2012/08/20

Fingerprint

Dive into the research topics of 'Leader-Follower Coverage based on Power Transmission and Heading Angles'. Together they form a unique fingerprint.

Cite this