LSwarm: 複雑な都市環境における大規模群れのカバレッジ制約付き効率的衝突回避
LSwarm: Efficient Collision Avoidance for Large Swarms with Coverage Constraints in Complex Urban Scenes
都市監視用UAV群れの衝突回避手法LSwarmを提案。ORCAを基に、カバレッジ制約を考慮しつつ静的・動的障害物や他エージェントとの衝突を効率的に回避し、数十〜数百機規模でも数ミリ秒で計算可能。
著者: Senthil Hariharan Arul, Adarsh Jagan Sathyamoorthy, Shivang Patel, Michael Otte, Huan Xu, Ming C Lin, Dinesh Manocha
分類: cs.RO
原文アブストラクト
In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids collisions with static obstacles, dynamic obstacles and other agents in 3-D urban environments while considering coverage constraints. LSwarm computes collision avoiding velocities that (i) maximize the conformity of an agent to an optimal path given by a global coverage strategy and (ii) ensure sufficient resolution of the coverage data collected by each agent. Our algorithm is formulated based on ORCA (Optimal Reciprocal Collision Avoidance) and is scalable with respect to the size of the swarm. We evaluate the coverage performance of LSwarm in realistic simulations of a swarm of quadrotors in complex urban models. In practice, our approach can compute collision avoiding velocities for a swarm composed of tens to hundreds of agents in a few milliseconds on dense urban scenes consisting of tens of buildings.
