通信不確実性下で2機のUAVはどれだけ離れるべきか
How Far Two UAVs Should Be subject to Communication Uncertainties
通信の不確実性を考慮し、安全半径の設計と制御器設計を分離する原理を提案し、設計段階と飛行段階の安全領域を解析した。複数障害物への拡張とシミュレーション・実験で有効性を示した。
著者: Quan Quan, Rao Fu, Kai-Yuan
分類: cs.RO
原文アブストラクト
Unmanned aerial vehicles are now becoming increasingly accessible to amateur and commercial users alike. A safety air traffic management system is needed to help ensure that every newest entrant into the sky does not collide with others. Much research has been done to design various methods to perform collision avoidance with obstacles. However, how to decide the safety radius subject to communication uncertainties is still suspended. Based on assumptions on communication uncertainties and supposed control performance, a separation principle of the safety radius design and controller design is proposed. With it, the safety radius corresponding to the safety area in the design phase (without uncertainties) and flight phase (subject to uncertainties) are studied. Furthermore, the results are extended to multiple obstacles. Simulations and experiments are carried out to show the effectiveness of the proposed methods.
