| Citation: | ZHANG Y L，MA Z Z，SHI L，et al. Multi-agent coverage control based on communication connectivity maintenance constraints[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（2）：519-528 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0340
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Coverage control will disperse the agents as much as possible according to the environmental information to achieve a better spatial coverage effect and realize the optimal monitoring of the task area. In this process, the cooperation between agents depends on the connected communication network. Limited by the finite communication range of agents in complex electromagnetic environments, the decentralized behavior in coverage control may cause the interruption of the communication network and task failure. Therefore, to ensure that the coverage cost function lowers while the network connectivity does not fall below the predetermined threshold, this study uses the connectivity of the communication network as a constraint and offers a bounded distributed control law based on the gradient descent approach. A segmented control strategy based on the identification of critical agents is also proposed in order to lessen the impact of communication link maintenance on the coverage effect. By dynamically allocating the control gains of coverage and communication connectivity maintenance, the control oscillation and redundancy caused by the opposite movement trend of the two are reduced. Finally, aiming at the deadlock phenomenon of falling into local optimization, this paper proposes a deadlock elimination control, which can eliminate the deadlock in time and improve coverage performance. The coverage simulation experiment of the signal field generated by high-frequency structure simulation (HFSS) software shows the effectiveness of the proposed control laws.
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