Heat Equation Driven Area Coverage (HEDAC) is a state-of-the-art multi-agent ergodic motion control guided by a gradient of a potential field. A finite element method is hereby implemented to obtain a solution of Helmholtz partial differential equation, which models the potential field for surveying motion control. This allows us to survey arbitrarily shaped domains and to include obstacles in an elegant and robust manner intrinsic to HEDAC's fundamental idea. For a simple kinematic motion, the obstacles and boundary avoidance constraints are successfully handled by directing the agent motion with the gradient of the potential. However, including additional constraints, such as the minimal clearance dsitance from stationary and moving obstacles and the minimal path curvature radius, requires further alternations of the control algorithm. We introduce a relatively simple yet robust approach for handling these constraints by formulating a straightforward optimization problem based on collision-free escapes route maneuvers. This approach provides a guaranteed collision avoidance mechanism, while being computationally inexpensive as a result of the optimization problem partitioning. The proposed motion control is evaluated in three realistic surveying scenarios simulations, showing the effectiveness of the surveying and the robustness of the control algorithm. Furthermore, potential maneuvering difficulties due to improperly defined surveying scenarios are highlighted and we provide guidelines on how to overpass them. The results are promising and indiacate real-world applicability of proposed constrained multi-agent motion control for autonomous surveying and potentially other HEDAC utilizations.
翻译:热赤道驱动区域覆盖(HEDAC)是一种由潜在场域梯度引导的最先进的多试剂热力运动控制(HEDAC),它是一种由潜在场域梯度引导的高级多试剂热力运动控制(ERDAC),在此采用一个有限元素方法,以获得Helmholtz部分偏差方程式的解决方案,该方程式为调查运动控制的潜在领域建模。这使我们能够对任意形成的域进行勘察,并以高压和稳健的方式将障碍纳入其中。对于简单的运动运动运动,障碍和避免边界限制是通过利用潜力的梯度来成功处理的。但是,包括额外的限制因素,例如固定和移动障碍的最小适量调试试率以及最小的路径曲折半径,要求进一步改变控制算法。我们采用一个相对简单而有力的方法来处理这些制约因素,在无碰撞逃脱轨道操纵的基础上提出一个直接的优化问题。这一方法提供了一种有保障的避免碰撞机制,同时通过优化问题的分解而成本计算。拟议的运动控制是通过三种现实的模拟来评估各种假设情况,表明调查和机动性调查的潜在机动性调查的实效和机动性评估结果如何适应地展示。