Title:
Curvature Based Cooperative Exploration of Three Dimensional Scalar Fields
Curvature Based Cooperative Exploration of Three Dimensional Scalar Fields
Author(s)
Wu, Wencen
Zhang, Fumin
Zhang, Fumin
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Abstract
We develop strategies for controlled motion and
filtering performed by a mobile sensor network to cooperatively
explore an unknown 3D scalar field. In order to estimate the
principal directions and principal curvatures of a desired level
surface of the field which are used as feedback by the motion
control law, we apply a non-analytic curvature estimation
algorithm and prove the sufficient and necessary conditions
under which this algorithm can provide reliable estimates.
A differential geometric approach is followed in developing
provably convergent steering control laws to control the center
of the sensor platform formation to track one of the lines of
curvature on a detected level surface of the scalar field.
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Date Issued
2010
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Text
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Proceedings