针对空间平面形状构成的多无人机系统的分散协调
Etienne Petitprez1,2,3, François Guérin1,4, Frédéric Guinand1,3,5
1Le Havre Normandy University, 76600 Le Havre, France.
Sensors (Basel, Switzerland)
|December 9, 2023
概括
消防无人机现在可以使用分散的方法在3D空间中形成任意的形状. 这种技术甚至可以确保无人机的分布,以优化对有毒云或火灾周边的监视.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 计算机科学 计算机科学
背景情况:
- 消防员需要有效的方法来监控有毒云等危险环境.
- 现有的无人机协调方法可能缺乏去中心化和适应复杂任务的适应性.
研究的目的:
- 开发一种分散的技术,使无人机舰队在3D空间中集体形成任意平面虚拟形状.
- 使无人机能够围绕和监视危险区域,如有毒云或火灾周边.
主要方法:
- 利用里埃描述符来准确地数学描述虚拟形状.
- 实现了分散的轴承角度分配,以使无人机沿着形状分布均.
- 开发了无人机运动,避免碰撞和动态舰队尺寸调整的算法.
主要成果:
- 拟议的方法成功实现了分散的虚拟平面形状描述和无人机分配.
- 演示无人机从起飞到指定的位置沿着形状移动,避免碰撞.
- 通过模拟,仿真和真实无人机的户外实验,验证了该技术在现实世界的应用性.
结论:
- 开发的去中心化无人机形成技术是有效的,可以适应现实世界的应用.
- 这种方法提高了无人机对环境监测和应急响应的能力.
- 该技术支持任务期间无人机数量的动态变化.
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