Extensions of Receding Horizon Task Assignment for Area Coverage in Dynamic Environments
Youkyung Hong, Sunggoo Jung, Suseong Kim, Jihun Cha · IEEE Transactions on Aerospace and Electronic Systems · 2022
This study presents a task reassignment strategy that can flexibly handle changes in dynamic environments. Most existing studies have only considered static environments where the mission is predetermined and unexpected events do not occur. However, in practice, the environment in which unmanned aerial vehicles perform their mission is complex and includes various pop-up events. Therefore, task reassignment is essential through re-optimization to adjust the previous plan, which is no longer optimal whenever dynamic events occur. The importance of this study is that the modified receding horizon task assignment algorithm is applied for accurate and efficient task reassignment. In addition, this study aims to provide a complete system architecture from operator input to motor commands for autonomous area coverage missions. Reliable performance validation is also performed through various simulations and a challenging outdoor flight experiment with real hardware implementation.