摘要
Dear Editor,This letter addresses long duration coverage problem of multiple robotic surface vehicles(RSVs) subject to battery energy constraints,in addition to uncertainties and disturbances. An anti-disturbance energy-aware control method is proposed for performing coverage task of RSVs. Firstly, a centroidal Voronoi tessellation(CVT) is used to optimize the partition of the given coverage area.
基金
supported in part by the National Natural Science Foundation of China (51939001,52301408)
the National Science and Technology Major Project (2022ZD0119 902)
the Key Basic Research of Dalian (2023JJ11CG008)
the Dalian Science and Technology Innovation Fund (2022JJ12GX034)
the Dalian Outstanding Young Scientific and Technological Talents Project (2022RY07)。
