Experimental Study on Angle-aware Coverage Control with Application to 3-D Visual Map Reconstruction
Experimental Study on Angle-aware Coverage Control with Application to 3-D Visual Map Reconstruction
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DOI：
10.1109/ccta49430.2022.9966065
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发表时间：
2022-08
期刊：
影响因子：
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通讯作者：
Masaya Suenaga;Takumi Shimizu;Takeshi Hatanaka;K. Uto;Martina Mammarella;F. Dabbene
中科院分区：
文献类型：
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作者：
Masaya Suenaga;Takumi Shimizu;Takeshi Hatanaka;K. Uto;Martina Mammarella;F. Dabbene
多无人机覆盖控制的一个关键应用是利用无人机获取的图像进行三维地图重建。在这个框架中，不仅需要在环境的每个点采样图像，而且需要从丰富的视角收集图像。最近，作者提出了一种基于二次规划（QP）的解决方案，即所谓的角度感知覆盖控制。本文对所提出的覆盖控制进行了实验研究。为此，控制算法在多无人机试验台上实现，即东京工业机器人动物园天空。实验验证表明，基于qp的控制器在降低成本函数的同时实现了理想的无人机运动，并采取了态势自适应动作。也就是说，当过去没有任何其他无人机对该区域进行采样时，每架无人机都能够快速逃离被观察到的区域，同时它们会减速。此外，将基于运动结构的图像重建地图的质量与现有的不考虑视角的持续覆盖控制进行了比较。结果表明，角度感知覆盖控制优于传统的覆盖控制方案。
A key application of multi-drone coverage control is the 3-D map reconstruction from images acquired by aerial drones. In this framework, it is required not only to sample images at every point on the environment but also to collect them from rich viewing angles. A quadratic program (QP)- based solution to this problem, i.e. the so-called angle-aware coverage control, was recently presented by the authors. In this paper, an experimental study of the proposed coverage control is presented. To this end, the control algorithm was implemented on a multi-drone testbed, i.e. the Tokyo Tech Robot Zoo Sky. The experimental validation revealed that the QP-based controller achieved the desirable drone motion while reducing the cost function and also taking situation-adaptive actions. Namely, each drone was able to quickly escape the well-observed regions while they slowed down when the region was not sampled by any other drone in the past. Moreover, the effectiveness of the proposed angle-aware coverage control was compared in terms of quality of the map reconstructed by the images through a structure-from-motion technique with an existing persistent coverage control, which does not take into account viewing angles. The results show that the angle-aware coverage control outperforms the traditional coverage control scheme.