多无人机协同巡检3D物体表面，实现高效无碰撞全覆盖
Distributed Control for 3D Inspection using Multi-UAV Systems
- 基于分布式算法生成多机无碰撞巡检路径
- 实测验证在真实3D结构上可实现全覆盖巡检
- 适合需要快速、安全完成工业巡检的场景
多无人机系统协同控制因其在应急响应、搜救任务和关键基础设施巡检等领域的应用价值，受到广泛关注。本文提出一种分布式控制算法，用于生成无碰撞轨迹，使多无人机系统能够完全覆盖目标物体表面的指定3D点。目标是使无人机团队以最短时间完成对目标物体的协同巡检。针对四旋翼无人机团队对真实3D结构进行巡检的大量数值仿真，验证了所提方法的有效性与可行性。
原文摘要 · Abstract (English)
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection. This paper proposes a distributed control algorithm to generate collision-free trajectories that drive the multi-UAV system to completely inspect a set of 3D points on the surface of an object of interest. The objective of the UAVs is to cooperatively inspect the object of interest in the minimum amount of time. Extensive numerical simulations for a team of quadrotor UAVs inspecting a real 3D structure illustrate the validity and effectiveness of the proposed approach.
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