Coverage Control for Autonomous Patrol and Invader Detection using Quadcopters with Herarchical Linearization
Nagomu Takeuchi, Masataka Naruse, Kazuma Sekiguchi, Kenichiro Nonaka · 2019
In this paper, we present an autonomous monitoring method for multiple quadcopters via dynamic coverage control with an accurate model of a quadcopter that is an exact linearization. A quadcopter that is a nonlinear model is applied a hierarchical linearization because that model is difficult to design a controller. The hierarchical linearization accomplishes an exact by linearizing without an approximation, linearization and can control accurately a control object. We design a controller that uses an exact linearized model of quadcopter to realize monitoring using quadcopters in this research. The dynamic coverage control realizes by focusing on a density distribution about a conventional coverage control, is able to handle flexibly to a changing situation. The density distribution is changed depending on sensing, a quadcopter is attracted to an unobserved area via that distribution. In addition, when the quadcopter detects an invader, the quadcopter is able to chase it by giving a density distribution to the invader. Purpose of this paper is quadcopters accomplish autonomous monitoring that combines an obstacle avoidance, autonomous patrol around a task area and invader detection and following. A nunmerical simulation is performed to verify the behavior of the proposed method.