Coverage Control for Multi-Copter with Avoidance of Local Optimum and Collision Using Change of the Distribution Density Map
Masataka Naruse, Kazuma Sekiguchi, Kenichiro Nonaka · 2018
In this paper, we propose the coverage control for multi-copter type Unmanned Aerial Vehicle (UAV) with avoidance of local optimum and collision. As an effect of coverage control, the optimal deployment of agents according to arbitrary distribution could be calculated. However, there are problems with coverage control. One of them is that fallen into the local optimum solution owing to biased initial position or target. And the other one is collision since coverage control did not consider the size of agent. In this paper, we attempt to solve the local optimum by gradually changing the distribution density map which represents target deployment. And Voronoi diagram with void which considers the size of agents could solve the collision. This paper verifies the validity of proposed method with numerical simulation, comparing random walk and simulated annealing for local optimal problem, and the artificial potential method for collision.