Autonomous Patrol and Invader Detection by Coverage Controlled Quadcopters
Autonomous Patrol and Invader Detection by Coverage Controlled Quadcopters
复制标题
通过覆盖范围控制的四轴飞行器进行自主巡逻和入侵者检测
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
K. Nonaka
中科院分区：
文献类型：
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作者：
Nagomu Takeuchi;Masataka Naruse;K. Sekiguchi;K. Nonaka
本文介绍了利用多架四轴飞行器对建筑物或设施进行动态覆盖控制的方法。监视系统需要在任务区域内移动，探测并跟踪入侵者。观察未知入侵者时，不能选择固定的飞行路线。本文针对四轴飞行器上安装的传感器的特点，提出了一种检测未知入侵者的自主监视方法。与此同时，一架四轴飞行器在任务区域巡逻时跟踪入侵者。为了验证所提方法的有效性，进行了仿真，仿真结果验证了所提方法的有效性。
This paper presents dynamic coverage control using multiple quadcopters for a surveillance of buildings or facilities. The surveillance system requires to move in the task area, detect and follow an invader. For observing an unknown invader, a fixed flight route cannot be chosen. In this paper, an autonomous surveillance method is proposed to detect an unknown invader considering the feature of the mounted sensor on a quadcopter. At the same time, a quadcopter follows an invader while patrolling in the task area. In order to verify the validity of the proposed method, the simulation is performed, and then the result of the simulation shows the effectiveness.