Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 64, Issue 8, Pages 3239-3252Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2018.2879946
Keywords
Optimal control; persistent monitoring; second-order agent
Funding
- National Natural Science Foundation of China [61773172, 61572210, 51537003]
- Natural Science Foundation of Hubei Province of China [2017CFA035]
- Academic Frontier Youth Team of HUST
Ask authors/readers for more resources
This paper addresses a one-dimensional optimal persistent monitoring problem using second-order agents. The goal is to control the movements of agents to minimize a performance metric associated with the environment (targets) over a finite time horizon. In contrast to earlier results limited to first-order dynamics for agents, we control their accelerations rather than velocities, thus leading to a better approximation of agent behavior in practice and to smoother trajectories. Bounds on both velocities and accelerations are also taken into consideration. Despite these added complications to agent dynamics, we derive a necessary condition for optimality and show that the optimal agent trajectories can be fully characterized by two parameter vectors. A gradient-based algorithm is proposed to optimize these parameters and yield a minimal performance metric. In addition, a collision avoidance algorithm is proposed to solve potential collision and boundary-crossing problems, thus extending the gradient-based algorithm solutions. Finally, simulation examples are included to demonstrate the effectiveness of our results.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available