Actuation scheduling in mobile actuator networks for spatial-temporal feedback control of a diffusion process with dynamic obstacle avoidance

Abstract

In this paper, we discuss the problem of path planning for a group of networked mobile robots which can release neutralizing chemicals, known as "mobile actuator networks", to neutralize the toxic 2D diffusion process modelled by a parabolic PDE distributed parameter system. The desired trajectory of the robot is decided by centroidal Voronoi tessellations. Potential field method is used for the mobile robots to avoid dynamic obstacles in its working space. Simulation results show the effectiveness of our proposed method.