3D Area Monitoring Using Group Control Technique and Optimization Algorithms
V. Lazarev · 2020 International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon) · 2020
The paper considers the monitoring problem for non-determined 3D environment using vehicles group. The task for vehicles group include 3D area monitoring with distribution width of robots and keeping inside the desired region. Path planning of vehicles group based on data from the sensor system output and does not require mapping. There are two methods of group control offered in this paper for task solution. First method based on Delaunay triangulation in 3D using optimization algorithms. Second method also based on Delaunay triangulation using minimax optimization of distance between vehicles and obstacle/neighbors. The results of simulation for each method using Matlab represented in this paper. These results will be applied for unmanned aerial vehicle group movement research.