VTOL UAVが仮想チューブを通過するための実用的分散制御
Practical Distributed Control for VTOL UAVs to Pass a Virtual Tube
VTOL型UAV群が仮想チューブ（空路）を通過する際の分散制御手法を提案し、衝突回避とチューブ内維持をリアプノフ関数と不変集合定理で保証した。
著者: Quan Quan, Rao Fu, Mengxin Li, Donghui Wei, Yan Gao, Kai-Yuan Cai
分類: cs.RO, cs.MA
原文アブストラクト
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. An air traffic management (ATM) system is needed to help ensure that this newest entrant into the skies does not collide with others. In an ATM, airspace can be composed of airways, intersections and nodes. In this paper, for simplicity, distributed coordinating the motions of Vertical TakeOff and Landing (VTOL) UAVs to pass an airway is focused. This is formulated as a virtual tube passing problem, which includes passing a virtual tube, inter-agent collision avoidance and keeping within the virtual tube. Lyapunov-like functions are designed elaborately, and formal analysis based on invariant set theorem is made to show that all UAVs can pass the virtual tube without getting trapped, avoid collision and keep within the virtual tube. What is more, by the proposed distributed control, a VTOL UAV can keep away from another VTOL UAV or return back to the virtual tube as soon as possible, once it enters into the safety area of another or has a collision with the virtual tube during it is passing the virtual tube. Simulations and experiments are carried out to show the effectiveness of the proposed method and the comparison with other methods.
