Mobile Radiation Source Interception by Aerial Robot Swarms
Mobile Radiation Source Interception by Aerial Robot Swarms
复制标题
空中机器人群移动辐射源拦截
DOI：
10.1109/mrs.2019.8901102
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
H. Tanner
中科院分区：
文献类型：
--
作者：
Indrajeet Yadav;H. Tanner
本文提出了一种运动规划的方法来跟踪一个移动的目标，其放射性性质分类的目的，使用一组微型飞行器（MAV）。从传感的角度来看，小组福尔斯在目标周围形成最佳队形，并在几秒钟内集体决定目标是否具有微弱的放射性。MAV编队是最佳的，在这个意义上，车辆最大限度地减少检测错误，在他们的集体决策。从基本问题的解析解公式的直觉，再加上数值模拟，指导的技术方法，其中一个棘手的非线性优化问题被转换成一个二次规划（QP）。然后，QP解通知基于导航功能的运动规划器，以命令MAV进入期望的编队。完整的运动规划和控制体系结构进行了仿真测试。
This paper presents a motion planning approach to track a moving target for the purpose of classifying its radioactivity properties, using a team of micro aerial vehicles (MAV). The team falls into an optimal, from a sensing perspective, formation around the target and collectively decide, within seconds, if the target is even weakly radioactive. The MAV formation is optimal in the sense that the vehicles minimize the detection error in their collective decision-making. Intuition from the analytical solution of the basic problem formulation, coupled with numerical simulations, guides the technical approach in which an intractable nonlinear optimization problem is converted into a quadratic program (QP). The QP solution then informs a motion planner based on navigation functions, to command the MAV into the desired formation. The complete motion planning and control architecture is tested in simulation.