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학술지 Extensions of Receding Horizon Task Assignment for Area Coverage in Dynamic Environments
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저자
홍유경, 정성구, 김수성, 차지훈
발행일
202306
출처
IEEE Transactions on Aerospace and Electronic Systems, v.59 no.3, pp.3114-3128
ISSN
0018-9251
출판사
IEEE
DOI
https://dx.doi.org/10.1109/TAES.2022.3222139
협약과제
22HS5500, 골든타임 확보를 위한 실종자 수색 다수 드론 자율비행 핵심기술 개발, 차지훈
초록
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.
KSP 제안 키워드
Area coverage, Dynamic Environment, Dynamic event, Hardware Implementation, Performance validation, Pop-up, System architecture, flight experiments, receding horizon, task assignment, unexpected events