マルチUAVシステムによる3D検査のための分散制御
Distributed Control for 3D Inspection using Multi-UAV Systems
複数のドローンが協調して対象物表面の3D点を最短時間で検査するための、衝突回避軌道を生成する分散制御アルゴリズムを提案した論文。
著者: Angelos Zacharia, Savvas Papaioannou, Panayiotis Kolios, Christos Panayiotou
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection. This paper proposes a distributed control algorithm to generate collision-free trajectories that drive the multi-UAV system to completely inspect a set of 3D points on the surface of an object of interest. The objective of the UAVs is to cooperatively inspect the object of interest in the minimum amount of time. Extensive numerical simulations for a team of quadrotor UAVs inspecting a real 3D structure illustrate the validity and effectiveness of the proposed approach.
