In this paper,a cooperative region reconnaissance problem is investigated where a group of agents are required to fly across and detect events occur in an environment with static obstacles until an effective coverage ...In this paper,a cooperative region reconnaissance problem is investigated where a group of agents are required to fly across and detect events occur in an environment with static obstacles until an effective coverage is achieved.First,the region reconnaissance is formulated as a non-convex optimization problem.A coverage performance index with additional collision and obstacle avoidance constraints is given.Since the optimization index is an implicit function of state variables and cannot be used to compute gradients on state variables directly,an approximate optimization index is selected.Then,a non-convex optimization-based coverage algorithm is proposed to find the optimal reconnaissance location for each agent and guarantee no collisions trajectories among agents and obstacles.Finally,simulation experiments are performed to verify the effectiveness of the proposed approach.展开更多
A cooperative region reconnaissance problem is considered in this paper where a group of agents are required to reconnoitre a region of interest. Amain challenge of this problem is the sensing region of each agent var...A cooperative region reconnaissance problem is considered in this paper where a group of agents are required to reconnoitre a region of interest. Amain challenge of this problem is the sensing region of each agent varies with its altitude within an altitude constraint. Meanwhile, the reconnaissance ability of an agent is determined by its altitude and radial distance. First, the region reconnaissance is formulated as an effective coverage problem, which means that each point in the given region should be surveyed until a preset level is achieved. Then, an effective coverage control law is proposed to minimize coverage performance index by adjusting the altitude of an agent. Finally, the effectiveness of the proposed control law is verified through numerical simulations.展开更多
基金partially supported by the National Natural Science Foundation of China under Grant Nos.6147309961333001。
文摘In this paper,a cooperative region reconnaissance problem is investigated where a group of agents are required to fly across and detect events occur in an environment with static obstacles until an effective coverage is achieved.First,the region reconnaissance is formulated as a non-convex optimization problem.A coverage performance index with additional collision and obstacle avoidance constraints is given.Since the optimization index is an implicit function of state variables and cannot be used to compute gradients on state variables directly,an approximate optimization index is selected.Then,a non-convex optimization-based coverage algorithm is proposed to find the optimal reconnaissance location for each agent and guarantee no collisions trajectories among agents and obstacles.Finally,simulation experiments are performed to verify the effectiveness of the proposed approach.
基金This research work was partially supported by the National Natural Science Foundation of China （Nos. 61473099, 61333001 ）.
文摘A cooperative region reconnaissance problem is considered in this paper where a group of agents are required to reconnoitre a region of interest. Amain challenge of this problem is the sensing region of each agent varies with its altitude within an altitude constraint. Meanwhile, the reconnaissance ability of an agent is determined by its altitude and radial distance. First, the region reconnaissance is formulated as an effective coverage problem, which means that each point in the given region should be surveyed until a preset level is achieved. Then, an effective coverage control law is proposed to minimize coverage performance index by adjusting the altitude of an agent. Finally, the effectiveness of the proposed control law is verified through numerical simulations.
