移動充電UGVとエネルギー制約付きUAVの協調カバレッジ計画
AG-CVG: Coverage Planning with a Mobile Recharging UGV and an Energy-Constrained UAV
エネルギー制約のあるUAVと移動充電が可能なUGVのチームで、両者の担当領域を完全にカバーしつつ時間を最小化するヒューリスティック手法を提案。実機実験で有効性を検証。
著者: Nare Karapetyan, Ahmad Bilal Asghar, Amisha Bhaskar, Guangyao Shi, Dinesh Manocha, Pratap Tokekar
分類: cs.RO
原文アブストラクト
In this paper, we present an approach for coverage path planning for a team of an energy-constrained Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). Both the UAV and the UGV have predefined areas that they have to cover. The goal is to perform complete coverage by both robots while minimizing the coverage time. The UGV can also serve as a mobile recharging station. The UAV and UGV need to occasionally rendezvous for recharging. We propose a heuristic method to address this NP-Hard planning problem. Our approach involves initially determining coverage paths without factoring in energy constraints. Subsequently, we cluster segments of these paths and employ graph matching to assign UAV clusters to UGV clusters for efficient recharging management. We perform numerical analysis on real-world coverage applications and show that compared with a greedy approach our method reduces rendezvous overhead on average by 11.33%. We demonstrate proof-of-concept with a team of a VOXL m500 drone and a Clearpath Jackal ground vehicle, providing a complete system from the offline algorithm to the field execution.
