An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function
Joint Authors
Yan, Maode
Zuo, Lei
Guo, Yaoren
Ma, Wenrui
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-07-03
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Zuo, Lei& Yan, Maode& Guo, Yaoren& Ma, Wenrui. 2019. An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function. Complexity،Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1132384
Modern Language Association (MLA)
Zuo, Lei…[et al.]. An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function. Complexity No. 2019 (2019), pp.1-11.
https://search.emarefa.net/detail/BIM-1132384
American Medical Association (AMA)
Zuo, Lei& Yan, Maode& Guo, Yaoren& Ma, Wenrui. An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function. Complexity. 2019. Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1132384
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1132384