複数UAVによる複数目標のための能動探索戦略
An Active Search Strategy with Multiple Unmanned Aerial Systems for Multiple Targets
広大な自然環境で複数の目標を探すため、大域・局所情報を統合しVoronoi分割で分散協調するマルチUAV探索手法を提案し、野生のカブトガニ探索で有効性を示した。
著者: Chuanxiang Gao, Xinyi Wang, Xi Chen, Ben M. Chen
分類: cs.RO
原文アブストラクト
The challenge of efficient target searching in vast natural environments has driven the need for advanced multi-UAV active search strategies. This paper introduces a novel method in which global and local information is adeptly merged to avoid issues such as myopia and redundant back-and-forth movements. In addition, a trajectory generation method is used to ensure the search pattern within continuous space. To further optimize multi-agent cooperation, the Voronoi partition technique is employed, ensuring a reduction in repetitive flight patterns and making the control of multiple agents in a decentralized way. Through a series of experiments, the evaluation and comparison results demonstrate the efficiency of our approach in various environments. The primary application of this innovative approach is demonstrated in the search for horseshoe crabs within their wild habitats, showcasing its potential to revolutionize ecological survey and conservation efforts.
