Persistent Environmental Monitoring with Distributed Online Assignment of Charging Stations
Persistent Environmental Monitoring with Distributed Online Assignment of Charging Stations
复制标题
通过分布式在线分配充电站进行持续环境监测
DOI：
10.23919/siceiscs54350.2022.9754518
复制
发表时间：
2022
期刊：
影响因子：
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通讯作者：
Takeshi Hatanaka
中科院分区：
文献类型：
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作者：
L. Zhiyuan;Shunya Yamashita;Takeshi Hatanaka
本文研究了使用无人机网络对目标区域进行持续环境监测。我们首先设计控制屏障功能（CBF），以强制无人机满足包括电池充电在内的各种规格。覆盖控制和CBF为基础的在线优化的组合，以实现持久的监测，同时满足规范。然而，用于电池充电的CBF强制每个无人机在电池耗尽之前返回到预先分配的充电站，这可能降低操作的效率。为了解决这个问题，我们将一个高层次的控制机制，在线分配充电站的持久覆盖控制。为了设计高层次的控制器，我们提出了一个分布式解决方案的分配问题的基础上所谓的交替方向法的乘子。最后通过仿真对整个系统进行了验证。
This paper investigates persistent environmental monitoring of a target area using a drone network. We first design control barrier functions (CBFs) to enforce drones to meet various specifications including battery charging. The combination of coverage control and CBF-based online optimization is shown to achieve persistent monitoring while meeting the specifications. However, the CBF for battery charging enforces each drone to return to a preassigned charging station before battery exhaustion, which may degrade efficiency for the operation. To address the issue, we incorporate a high-level control mechanism for online assignment of charging stations into the persistent coverage control. In order to design the high-level controller, we present a distributed solution to the assignment problem based on so-called alternating direction method of multipliers. The overall system is finally demonstrated through simulation.