Research Article
An Improved KF-RBF Based Estimation Algorithm for Coverage Control with Unknown Density Function
Algorithm 2
The improved KF-RBF based estimation algorithm.
Require: The sampling measurements and the agent positions . | |
Ensure: The estimated density function | |
(1) Initialization: The related parameters , , , , , ; The basis function and the estimation | |
errors critic ; | |
(2) while do | |
(3) and ; | |
(4) Compute , and in (18); | |
(5) Obtain through the previous estimated density function; | |
(6) Calculate the estimation errors ; | |
(7) while do | |
(8) Calculate based on (21); | |
(9) Update the covariance matrix ; | |
(10) Substitute into (20) and obtain the coefficient parameters ; | |
(11) Obtain the estimated density function through (18); | |
(12) end while | |
(13) Remove from and choose another point for estimation; | |
(14) Update the related variables: ; ; | |
(15) end while |