Leader-Follower Coverage based on Power Transmission and Heading Angles

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...

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Bibliographic Details
Published in2020 IEEE 63rd International Midwest Symposium on Circuits and Systems (MWSCAS) pp. 369 - 372
Main Authors Hernandez-Martinez, E. G., Gonzalez-Sierra, J., Alvarez-Guzman, E., Fernandez-Anaya, G., Ferreira-Vazquez, E., Flores-Godoy, J. J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2020
Subjects
Antenna radiation patterns
Mobile robots
Robot kinematics
Robot sensing systems
Wireless communication
Wireless sensor networks
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Summary: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.
ISSN:1558-3899
DOI:10.1109/MWSCAS48704.2020.9184649