Unmanned aerial vehicles (UAVs) are becoming one of the most versatile robots working with various sensors such as camera, Lidar and GPS. This trend comes from the numerous studies in the network of UAVs and the control domain. Currently, coverage control, the control of UAVs to cover a given region, is an important problem in the study of multi-UAV networks. In this paper, an existing coverage control algorithm [17] has been significantly improved by maximising the sensing field of view (SFOV) over the area of interest, making it much more efficient. The camera used in each UAV allows pan-tilt-zoom (PTZ) in the bottom hemisphere of the UAV. We propose two network coverage algorithms for multiple UAVs to make this improvement: one is the Voronoi based coverage control, and the other one is the constrained optimization coverage algorithm. Finally, the proposed schemes are tested in simulation and a real outdoor environment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Improved Multi-Camera Coverage Control of Unmanned Multirotors


    Beteiligte:
    Huang, Sunan (Autor:in) / Yang, Hong (Autor:in) / Leong, Wai Lun (Autor:in) / Teo, Rodney (Autor:in)


    Erscheinungsdatum :

    01.09.2020


    Format / Umfang :

    1849744 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    3D Multi-Camera Coverage Control of Unmanned Aerial Multirotors

    Huang, Sunan / Leong, Wai Lun / Huat Teo, Rodney Swee | IEEE | 2021



    L1 Adaptive Controller for Attitude Control of Multirotors

    Mallikarjunan, S. / Nesbitt, B. / Xargay, E. et al. | British Library Conference Proceedings | 2012


    L1 Adaptive Controller for Attitude Control of Multirotors

    Mallikarjunan, Srinath / Nesbitt, Bill / Kharisov, Evgeny et al. | AIAA | 2012


    Scaling Effects on Controllers for Multirotors

    Thai, Lam Ngoc / Nahon, Meyer / Charland-Arcand, Guillaume | IEEE | 2020