共享缆绳上的多个无人机:用例,建模和概率路径规划

IF 1 Q3 ENGINEERING, MULTIDISCIPLINARY
James Humann, Michael Equi, Natalie Link, Perla Latorre-Suarez
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引用次数: 0

摘要

我们分析了共享系绳(MUST)上的多架无人机(uav)的概念,其中无人机充当系绳形状的控制节点,使系统能够绕过障碍物而不会缠绕或碰撞,与单系绳无人机相比,灵活性更高。必须用例是从军事、公共安全和商业领域的涉众中收集的。我们提出了一个用于碰撞检查的系绳形状模型和一个系绳重量、尺寸和功率之间相互作用的模型,我们运用这些模型来确定最大的系绳段尺寸。我们将文献中的三种概率路径规划算法应用于MUSTs,使用了一种新的局部规划器和约束集。在仿真中,我们证明了概率规划是一种可行的方法来规划具有弯曲系绳段的must的路径。我们还展示了must的第一种手动驾驶模式。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Multiple UAVs on a shared tether: Use cases, modeling, and probabilistic path planning
We analyze the concept of multiple unmanned aerial vehicles (UAVs) on a shared tether (MUST), where the UAVs act as control nodes for the shape of the tether, enabling the system to maneuver around obstacles without tangling or colliding for increased flexibility compared with single-tethered UAVs. MUST use cases are gathered from stakeholders in the military, public safety, and commercial domains. We present a model for the tether shape to use in collision checking and a model for the interactions among tether weight, size, and power, which we exercise to determine the maximum tether segment sizes. We apply three probabilistic path-planning algorithms from the literature to MUSTs, using a novel local planner and constraint set. In simulation, we show that probabilistic planners are a feasible approach to path planning for MUSTs with curved tether segments. We also show the first manual piloting modality of MUSTs.
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来源期刊
CiteScore
2.80
自引率
12.50%
发文量
40
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