Application of Lissajous curves in trajectory planning of multiple agents
Application of Lissajous curves in trajectory planning of multiple agents
复制标题
Lissajous曲线在多智能体轨迹规划中的应用
作者：
A. Borkar;A. Sinha;L. Vachhani;H. Arya
李萨如曲线已用于各种工程应用，例如光学、成像、天线扫描、机械加工以及移动机器人。在本文中，我们提出并分析证明了基于利萨如曲线的空中多智能体系统轨迹规划策略，以同时实现以下目标：（i）重复覆盖某个区域的无碰撞路径，同时始终保持围绕指定中心的闭合传感器环。 (ii) 保证在有限时间内检测到封闭在环内的任何静止或移动物体，而不存在未被检测到的逃脱的可能性。这利用了我们在这项工作中建立的利萨如曲线的已知特性和一些新颖特性。这在民用和军事任务中具有多种潜在应用，例如搜索和监视、重复巡逻、目标检测和捕获，并且所提出的策略同时满足所有这些目标。我们通过使用差动驱动地面机器人的模拟和实验来验证所提出的策略。我们还通过四旋翼飞行器的软件在环仿真证明了该策略在空中监视方面的适用性。
Lissajous curves have been used in various engineering applications such as optics, imaging, antenna scan, machining, as well as mobile robotics. In this article, we propose and analytically justify a Lissajous curve based trajectory planning strategy for aerial multi-agent systems to achieve the following objectives simultaneously: (i) Collision free paths for repeated coverage of a region while maintaining a closed sensor ring around a specified center for all time. (ii) Guaranteed detection of any stationary or moving object enclosed within the ring in finite time without the possibility of undetected escape. This leverages known and some novel properties of Lissajous curves that we establish as a part of this work. This has several potential applications in civil and military missions such as search and surveillance, repeated patrolling, target detection and capture, and the proposed strategy meets all these objectives simultaneously. We validate the proposed strategy through simulations and experiments using differential drive ground robots. We also demonstrate the applicability of this strategy for aerial surveillance through a Software-In-Loop-Simulation for quadrotors.
非简并利萨如曲线节点处的双变量拉格朗日插值
影响因子：
2.1
作者：
W. Erb;K. Kaethner;M. Ahlborg;T. M. Buzug
通讯作者：
T. M. Buzug