Observer-Based coverage control of unicycle mobile robot network in dynamic environment

This paper studies the coverage control problem of unicycle mobile robot network with external disturbance in the dynamic environment. The environment model is described by a time-varying density function, which is not known by the robot network. An observation method is proposed to approximate the unknown density function. It is proved that the density approximated by the robot network converge to the real density and the consensus of coefficient vector is realized in the robot network. Based on the approximated density function, a robust coverage control is successfully designed to drive the unicycle robot network to the optimal configuration and the coverage of the task region is optimized. Finally, the effectiveness of observation method and robust control are shown by simulation results.