Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints
Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints
复制标题
对受充电限制的无人机进行可证明正确的持续监视
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
C. Belta
中科院分区：
文献类型：
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作者：
Kevin J. Leahy;Dingjiang Zhou;C. Vasile;K. Oikonomopoulos;M. Schwager;C. Belta
在这项工作中，我们提出了一种新的方法来自动执行涉及多个车辆的持续监视任务。基于自动机的技术被用来为一组车辆生成满足时态逻辑规范的无碰撞运动计划。矢量场是为与基于差分平坦度的控制器一起使用而创建的，允许根据运动计划实现飞行器飞行和展开的完全自动化。在车辆上使用充电平台可以实现真正持久的任务。为了验证理论结果，用两个四旋翼飞行器进行了超过50次的实验。
In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques were used to generate collision-free motion plans for a team of vehicles to satisfy a temporal logic specification. Vector fields were created for use with a differential flatness-based controller, allowing vehicle flight and deployment to be fully automated according to the motion plans. The use of charging platforms with the vehicles allows for truly persistent missions. Experiments were performed with two quadrotors over 50 runs to validate the theoretical results.