The coverage control problem for a network of heterogeneous mobile sensors with bound position measurement errors on a circle is addressed in this paper. A practical measurement error model is considered in which only the upper bounds of the measurement errors are known by the sensors a priori. The coverage cost function is defined as the largest arrival time from the mobile sensor network to any point on the circle. Two cases of coverage control with and without order preservation of the sensors respectively, are considered. For each case, the upper bounds on the measurement errors are employed to design an estimation algorithm for each sensor to estimate the difference between neighboring sensors’ positions. Then, distributed coverage control laws are developed for the mobile sensors by using the estimated difference. Under the proposed control laws, the sensor network is driven to a neighborhood of the optimal configuration minimizing the cost function and the effect of the measurement errors on the coverage performance is reduced or even eliminated.

本文解决了异类移动传感器网络在圆上具有受限位置测量误差的覆盖控制问题。考虑一种实际的测量误差模型，其中传感器仅事先知道测量误差的上限。覆盖成本函数定义为从移动传感器网络到圆上任何点的最大到达时间。考虑了分别具有和不具有传感器的顺序保持的覆盖控制的两种情况。对于每种情况，都采用测量误差的上限来设计用于每个传感器的估计算法，以估计相邻传感器位置之间的差异。然后，通过使用估计的差异为移动传感器开发分布式覆盖控制律。在提出的控制法则下，将传感器网络驱动到最佳配置的邻域，从而使成本函数最小化，并减少甚至消除了测量误差对覆盖性能的影响。