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首页> 外文期刊>Aerospace science and technology >Time-optimal trajectory generation for aerial coverage of urban building
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Time-optimal trajectory generation for aerial coverage of urban building

机译：用于城市建筑空中覆盖的时间最优轨迹生成

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摘要

This paper presents a hierarchical architecture for generating the cooperative trajectories of multiple unmanned aerial vehicles (UAVs) attached with camera sensors, which aim to cover buildings with optimal time in 3D urban environment. It incorporates the centralized high-level layer performing the mission analysis and task allocation functions yielding instructions that are transmitted to the UAVs, as well as the decentralized low-level fashion that the UAVs perform the trajectory generation function in turn. First, the mission features especially the theoretical coverage time of building envelope are extracted quantitatively, and the buildings are then allocated to the UAVs in order to convert the cooperative control problem into multiple single-vehicle control problems. Then, each UAV visits and scans its allocated buildings sequentially, and the corresponding coverage trajectories are obtained by the parallel circle strategy (PCS) and the time-optimal guidance vector field (TOGVF) transition method, as well as the interfered fluid dynamic system (IFDS) method for obstacle avoidance. Finally, our proposed method is verified in various scenarios, and the simulation results show its high efficiency with least time to solve the cooperative coverage problem. (C) 2018 Elsevier Masson SAS. All rights reserved.
机译：本文提出了一种层次结构，用于生成多个装有摄像头传感器的无人机的协作轨迹，旨在覆盖3D城市环境中具有最佳时间的建筑物。它集成了执行任务分析和任务分配功能的集中式高层，产生指令并传输到无人机，以及分散式低层方式，无人机依次执行轨迹生成功能。首先，定量提取任务特征，特别是建筑物围护结构的理论覆盖时间，然后将建筑物分配给无人机，以将协同控制问题转化为多个单车控制问题。然后，每个无人机依次访问并扫描其分配的建筑物，并通过平行圆策略（PCS）和时间最优制导向量场（TOGVF）转换方法以及受干扰流体动力系统（ IFDS）避障方法。最后，本文提出的方法在各种场景下得到了验证，仿真结果表明，该方法效率高，求解时间短，可以有效解决协作覆盖问题。 （C）2018 Elsevier Masson SAS。版权所有。

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