文章基本信息

标题：Area Coverage by a Group of UAVs using the Broadcast Control Framework
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作者：Shalini Darmaraju ; Madhavan Shanmugavel ; Md Abdus Samad Kamal 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：12
页码：370-375
DOI：10.1016/j.ifacol.2019.11.271
语种：English
出版社：Elsevier
摘要：AbstractThis paper proposes a scheme for distributing a group of Unmanned Aerial Vehicles (UAVs) in an environment using Broadcast Control (BC) algorithm. BC is a recent technique that uses stochastic optimization to control a multi-agent system for accomplishing a global task. BC’s variant, the Pseudo-perturbation based BC (PBC), uses model based predicted decision and shows faster convergence than BC. In this paper, we have modified the existing BC schemes by incorporating relevant constraints to consider physical limitations of the agents. The proposed scheme is applied to a group of UAVs having kinematic constraints for an area coverage task. Results from numerical simulation show that the performance of BC methods are maintained, and more importantly, the designed path constraints for the UAVs produces a less erratic, continuous and realistic travel path as the UAVs fly to reach their goal.
关键词：KeywordsArea coverage controlcooperative controlUAVsmulti-agent systembroadcast control