Bentz, William (University of Michigan), Panagou, Dimitra (University of Michigan)

3D Dynamic Coverage and Avoidance Control in Power-Constrained UAV Surveillance Networks

Scheduled for presentation during the "Autonomy - I" (WeA1), Wednesday, June 14, 2017, 10:00−10:20, Salon E

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This paper considers dynamic coverage control of multiple power-constrained UAVs. The UAVs are deployed to patrol a domain until the entire space has reached a satisfactory level of coverage. This is achieved through the gathering of visual information by a forward-facing camera, modeled as an anisotropic spherical sector. Coverage and collision avoidance guarantees are met through the design of a high-level kinematic hybrid control scheme consisting of a hold state as well as three coverage modes: local, global and scan mode. Energy-aware methods are encoded into the global coverage state to shift the bulk of spatial redistribution onto less constrained agents. The efficacy of this algorithm is presented through simulation.