Coverage of an Environment Using Energy-Constrained Unmanned Aerial Vehicles
Coverage of an Environment Using Energy-Constrained Unmanned Aerial Vehicles
复制标题
使用能量受限的无人机对环境进行覆盖
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Pratap Tokekar
中科院分区：
文献类型：
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作者：
Kevin Yu;J. O’Kane;Pratap Tokekar
我们研究了使用电池容量有限的无人机（UAV）覆盖环境的问题。我们考虑了一种无人机可以降落在无人地面车辆（UGV）上并为车载电池充电的场景。UGV在将UAV运送到下一个起飞地点时也能给UAV充电。我们提出了一种新的算法来解决考虑无人机和UGV系统共生的区域覆盖问题。输入由一组栏突细胞组成——矩形条，其宽度等于无人机上传感器的视野。目标是为无人机找到一个在最短时间内访问并覆盖所有细胞的行程。这包括访问和覆盖所有电池的飞行时间，充电时间，以及起飞和降落时间。我们展示了如何将这个问题简化为一个已知的np困难问题，即广义旅行销售人员问题（GTSP）。在给定最优GTSP求解器的情况下，我们的方法找到了无人机和UGV的最优覆盖路径。我们通过模拟和概念验证实验来评估我们的算法。
We study the problem of covering an environment using an Unmanned Aerial Vehicle (UAV) with limited battery capacity. We consider a scenario where the UAV can land on an Unmanned Ground Vehicle (UGV) and recharge the onboard battery. The UGV can also recharge the UAV while transporting the UAV to the next take-off site. We present an algorithm to solve a new variant of the area coverage problem that takes into account this symbiotic UAV and UGV system. The input consists of a set of boustrophedon cells — rectangular strips whose width is equal to the field-of-view of the sensor on the UAV. The goal is to find a tour for the UAV that visits and covers all cells in minimum time. This includes flight time for visiting and covering all cells, recharging time, as well as the take-off and landing times. We show how to reduce this problem to a known NP-hard problem, Generalized Traveling Salesperson Problem (GTSP). Given an optimal GTSP solver, our approach finds the optimal coverage paths for the UAV and UGV. We evaluate our algorithm through simulations and proof-of-concept experiments.
DOI：
10.1109/icra.2018.8460661
发表时间：
2018-05
期刊：
2018 IEEE International Conference on Robotics and Automation (ICRA)
影响因子：
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作者：
N. Karapetyan;Jason Moulton;Jeremy S. Lewis;Alberto Quattrini Li;J. O’Kane;Ioannis M. Rekleitis
通讯作者：
N. Karapetyan;Jason Moulton;Jeremy S. Lewis;Alberto Quattrini Li;J. O’Kane;Ioannis M. Rekleitis
使用有限 FoV 传感器搜索和跟踪未知且变化数量的移动目标的算法
DOI：
10.1109/icra.2017.7989740
发表时间：
2017
期刊：
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA
影响因子：
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作者：
Sung, Yoonchang;Tokekar, Pratap
通讯作者：
Tokekar, Pratap