Angle-Aware Coverage Control for 3-D Map Reconstruction With Drone Networks
Angle-Aware Coverage Control for 3-D Map Reconstruction With Drone Networks
复制标题
利用无人机网络进行 3D 地图重建的角度感知覆盖控制
DOI：
10.1109/lcsys.2021.3135466
复制
发表时间：
2022
影响因子：
3
通讯作者：
Dabbene Fabrizio
中科院分区：
文献类型：
--
作者：
Shimizu Takumi;Yamashita Shunya;Hatanaka Takeshi;Uto Kuniaki;Mammarella Martina;Dabbene Fabrizio
在这封信中，我们讨论了使用无人机网络重建3-D地图的环境监测。针对三维重建需要从多个视角获取图像的特点，基于虚拟视场的概念，结合监控目标的位置和视角，提出了一种新的角度感知覆盖控制问题。然后，我们定义了一个具有重要性指数的目标函数，该指数根据过去覆盖状态的历史进行更新。在目前的情况下，无人机不仅需要最大限度地减少目标函数，而且还需要采取情况适应行动，例如，无人机应该迅速逃离重要性指数较低的区域。为此，我们设计了一种基于QP的控制器，它根据当前重要性指数来切换动作。最后通过在Robot操作系统上的仿真验证了该控制器的有效性。
In this letter, we address environmental monitoring for 3-D map reconstruction using drone networks. In view of the fact that the 3-D reconstruction requires images from a variety of viewing angles, we first formulate a novel angle-aware coverage control problem, based on a concept of virtual field that combines the position of a monitoring target and the viewing angle. Then, we define an objective function with an importance index, updated according to the history of the past coverage states. In the present scenario, drones are required not only to minimize the objective function but also to take situation-adaptive actions, e.g., a drone should quickly escape a region having low importance indices. To this end, we design a QP-based controller that switches actions depending on the current importance index. We finally demonstrate the effectiveness of the presented controller through simulations on Robot Operating System.