高応答な死角捕捉を実現する被覆制御の開発と実機検証

抄録

This paper proposes high response coverage control method of blind spots which cannot be captured by on-vehicle sensors and infrastructures. The conventional method is based on the Voronoi partition and gradient systems, and useful in intuitive perspicuity and formulation. However, the optimum solution depends on the initial displacement. This sometimes causes inefficient situations such that some fast agents cannot move to the other remote area with high risk potential beyond the own Voronoi partition. Therefore, in this paper, an additional motion control law is integrated into the conventional method considering the difference in speed capability of multi agents. The effectiveness of this approach is demonstrated using commercially available multi-copters.