TY - GEN
T1 - Leader-Follower Coverage based on Power Transmission and Heading Angles
AU - Hernandez-Martinez, E. G.
AU - Gonzalez-Sierra, J.
AU - Alvarez-Guzman, E.
AU - Fernandez-Anaya, G.
AU - Ferreira-Vazquez, E.
AU - Flores-Godoy, J. J.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/8
Y1 - 2020/8
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85090550197&partnerID=8YFLogxK
U2 - 10.1109/MWSCAS48704.2020.9184649
DO - 10.1109/MWSCAS48704.2020.9184649
M3 - Contribución a la conferencia
AN - SCOPUS:85090550197
T3 - Midwest Symposium on Circuits and Systems
SP - 369
EP - 372
BT - 2020 IEEE 63rd International Midwest Symposium on Circuits and Systems, MWSCAS 2020 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 63rd IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2020
Y2 - 9 August 2020 through 12 August 2020
ER -