用逻辑语言协调无人机群巡检风机，兼顾时间与安全约束
A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study
- 用信号时序逻辑建模任务时序要求，统一调度多架无人机
- 支持不同无人机的物理限制和时间约束，生成可行路径
- 可应对突发情况实时重规划，适合复杂工业巡检场景
本文针对多旋翼无人机群协同风机巡检任务，提出一种基于信号时序逻辑（STL）的任务分配与轨迹生成方法。该方法在满足任务目标和时间约束的同时，考虑异构时间要求与飞行器物理限制，通过优化问题求解实现安全可行的飞行路径。引入事件触发式重规划机制以应对突发状况并弥补延误。采用广义鲁棒性评分方法反映用户偏好并缓解任务冲突。通过MATLAB与Gazebo仿真及真实场景下的多机实验验证了方法的有效性。
原文摘要 · Abstract (English)
The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible trajectories while accommodating heterogeneous time-bound constraints and vehicle physical limits. An optimization problem is formulated to meet mission objectives and temporal requirements encoded as Signal Temporal Logic (STL) specifications. Additionally, an event-triggered replanner is introduced to address unforeseen events and compensate for lost time. Furthermore, a generalized robustness scoring method is employed to reflect user preferences and mitigate task conflicts. The effectiveness of the proposed approach is demonstrated through MATLAB and Gazebo simulations, as well as field multi-robot experiments in a mock-up scenario.
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