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Coverage control of mobile robots with adaptive gradient

The aim of this paper is to give a coverage control method for mobile robots whose actuators to drive wheels have saturation in the angular velocities. Since each robot has two independently driven wheels, the ratio of one wheel's angular velocity to the another is required to follow a coverage control law. That is, one or both of the saturated drive inputs deteriorates the coverage performance. To overcome this issue, this paper employs an adaptive gradient in the coverage control law for each robot. The effectiveness of the adaptive gradient is shown by experiments.