TY - GEN
T1 - Collision Avoidance Visual Coverage Control of Multiple Second-Order Mobile Aerial Agents
AU - Wang, Ye
AU - Fu, Junjie
AU - Tang, Meiqi
AU - Wang, Shuai
AU - Wen, Guanghui
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This work investigates the collision avoidance visual coverage control problem of multiple second-order Mobile Aerial Agents (MAAs). When performing coverage control tasks, MAAs need to consider both the sensing model and the sensing quality. An integrated coverage performance function is defined to evaluate the coverage effect. For the coverage control problem, a novel distributed control law is proposed to drive the second-order MAA system to converge to a locally optimal coverage configuration, and the stability of the corresponding coverage control system is proven by introducing a Lyapunov-like function. Moreover, a potential function term is employed to avoid collision between the MAAs and improve the safety performance of the system. Finally, numerical examples are given which demonstrate the effectiveness and practicality of the proposed control law.
AB - This work investigates the collision avoidance visual coverage control problem of multiple second-order Mobile Aerial Agents (MAAs). When performing coverage control tasks, MAAs need to consider both the sensing model and the sensing quality. An integrated coverage performance function is defined to evaluate the coverage effect. For the coverage control problem, a novel distributed control law is proposed to drive the second-order MAA system to converge to a locally optimal coverage configuration, and the stability of the corresponding coverage control system is proven by introducing a Lyapunov-like function. Moreover, a potential function term is employed to avoid collision between the MAAs and improve the safety performance of the system. Finally, numerical examples are given which demonstrate the effectiveness and practicality of the proposed control law.
UR - https://www.scopus.com/pages/publications/85171570140
U2 - 10.1109/ICARM58088.2023.10218836
DO - 10.1109/ICARM58088.2023.10218836
M3 - 会议稿件
AN - SCOPUS:85171570140
T3 - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
SP - 439
EP - 444
BT - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
Y2 - 8 July 2023 through 10 July 2023
ER -