Visual Coverage Maintenance for Quadcopters Using Nonsmooth Barrier Functions
Visual Coverage Maintenance for Quadcopters Using Nonsmooth Barrier Functions
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DOI：
10.1109/icra40945.2020.9196650
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发表时间：
2020-05
期刊：
影响因子：
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通讯作者：
Riku Funada;María Santos;Takuma Gencho;J. Yamauchi;M. Fujita;M. Egerstedt
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文献类型：
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作者：
Riku Funada;María Santos;Takuma Gencho;J. Yamauchi;M. Fujita;M. Egerstedt
本文提出了一种面向下向视觉传感器的四轴飞行器团队的覆盖控制算法，在最大限度地提高覆盖质量的同时，防止了监测区域之间的覆盖空洞的出现。给出了防止三人机器人视场间出现空洞的充要条件。由于这一条件可以表示为逻辑组合的约束，因此实现了控制非光滑障碍函数来实施它。实现了一种将控制非光滑屏障函数扩展到混杂系统的算法，以管理由于组成三个机器人的机器人的变化而引起的屏障函数之间的切换。在仿真和一组四轴飞行器上对所提算法的性能和有效性进行了评估。
This paper presents a coverage control algorithm for teams of quadcopters with downward facing visual sensors that prevents the appearance of coverage holes in-between the monitored areas while maximizing the coverage quality as much as possible. We derive necessary and sufficient conditions for preventing the appearance of holes in-between the fields of views among trios of robots. Because this condition can be expressed as logically combined constraints, control nonsmooth barrier functions are implemented to enforce it. An algorithm which extends control nonsmooth barrier functions to hybrid systems is implemented to manage the switching among barrier functions caused by the changes of the robots composing trio. The performance and validity of the proposed algorithm are evaluated in simulation as well as on a team of quadcopters.