限られた通信下での固定翼機衝突回避のための安全制約の合成
Composition of Safety Constraints For Fixed-Wing Collision Avoidance Amidst Limited Communications
バリア関数を用いて固定翼UAV群の衝突回避を保証する手法を提案し、通信負荷を抑えつつアクチュエータ制限内で多数機の安全を維持できるよう定式化した。20機のシミュレーションで有効性を検証した。
著者: Eric Squires, Pietro Pierpaoli, Rohit Konda, Samuel Coogan, Magnus Egerstedt
分類: cs.RO
原文アブストラクト
This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used to ensure that a system can stay safe for all future times. After introducing the general approach, it is shown how to ensure that collision avoidance for two vehicles can be guaranteed for all future times. The construction is then extended to the case of arbitrarily many vehicles by addressing how to satisfy multiple safety objectives simultaneously. We do this while ensuring output actuator commands are within specified limits. Because this formulation requires communication of control values and may therefore reduce throughput of other important messages, we then show how to reformulate the solution without this significant communication overhead while still ensuring safety is maintained and actuator limits are respected. We validate the theoretical developments of this paper in the simulator SCRIMMAGE with a simulation of 20 UAVs that maintain safe distances from each other even though their nominal paths would otherwise cause a collision.
