An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function
This paper investigates the coverage control for a group of agents, where the density function over the given region is unknown and time-varying. A cost function, depending on the density function and a certain metric, is provided to evaluate the performance of coverage network. Then, while consider...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2019/6268127 |
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| _version_ | 1850215227932540928 |
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| author | Lei Zuo Maode Yan Yaoren Guo Wenrui Ma |
| author_facet | Lei Zuo Maode Yan Yaoren Guo Wenrui Ma |
| author_sort | Lei Zuo |
| collection | DOAJ |
| description | This paper investigates the coverage control for a group of agents, where the density function over the given region is unknown and time-varying. A cost function, depending on the density function and a certain metric, is provided to evaluate the performance of coverage network. Then, while considering the sampling noise, a novel estimation algorithm is developed to approximate the density function based on the Kalman filter (KF) and the Radial Basis Function (RBF) neural network. Compared with the other estimation algorithms, a novel sampling regulation mechanism is designed to improve the estimation performance and reduce the computational load. On this basis, a coverage control scheme with estimated density function is proposed to drive the agents to the optimal deployment. Moreover, the stability and performance of proposed coverage control system are strictly analyzed. Finally, numerical simulation is provided to illustrate the effectiveness of proposed approaches. |
| format | Article |
| id | doaj-art-848c852d7e604e668bc2de65c9159f17 |
| institution | OA Journals |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-848c852d7e604e668bc2de65c9159f172025-08-20T02:08:40ZengWileyComplexity1076-27871099-05262019-01-01201910.1155/2019/62681276268127An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density FunctionLei Zuo0Maode Yan1Yaoren Guo2Wenrui Ma3The School of Control and Electronic Engineering, Chang’an University, Xi’an 710064, ChinaThe School of Control and Electronic Engineering, Chang’an University, Xi’an 710064, ChinaThe School of Control and Electronic Engineering, Chang’an University, Xi’an 710064, ChinaThe School of Control and Electronic Engineering, Chang’an University, Xi’an 710064, ChinaThis paper investigates the coverage control for a group of agents, where the density function over the given region is unknown and time-varying. A cost function, depending on the density function and a certain metric, is provided to evaluate the performance of coverage network. Then, while considering the sampling noise, a novel estimation algorithm is developed to approximate the density function based on the Kalman filter (KF) and the Radial Basis Function (RBF) neural network. Compared with the other estimation algorithms, a novel sampling regulation mechanism is designed to improve the estimation performance and reduce the computational load. On this basis, a coverage control scheme with estimated density function is proposed to drive the agents to the optimal deployment. Moreover, the stability and performance of proposed coverage control system are strictly analyzed. Finally, numerical simulation is provided to illustrate the effectiveness of proposed approaches.http://dx.doi.org/10.1155/2019/6268127 |
| spellingShingle | Lei Zuo Maode Yan Yaoren Guo Wenrui Ma An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function Complexity |
| title | An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function |
| title_full | An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function |
| title_fullStr | An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function |
| title_full_unstemmed | An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function |
| title_short | An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function |
| title_sort | improved kf rbf based estimation algorithm for coverage control with unknown density function |
| url | http://dx.doi.org/10.1155/2019/6268127 |
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