多机器人系统的渐近边界收缩控制
Asymptotic Boundary Shrink Control with Multi-robot Systems
摘要：
有害的海洋溢漏，如藻类大量繁殖和石油溢漏，破坏生态系统，严重威胁公众健康。因此，有效的溢油覆盖和清除策略将在环境保护中发挥重要作用。近年来，低成本的水面机器人已经成为一种解决方案，其有效性在小规模上得到了验证。然而，实际的限制，如连接性，可扩展性，以及传感和操作范围显着损害其大规模使用。为了规避这些限制，我们提出了一种新的渐近边界收缩控制策略，使集体覆盖的溢出具有定制的操作范围的自主机器人。对于每个机器人，一种新的控制器的实现，只依赖于本地视觉传感器有限的视觉范围。此外，这种策略的分布式允许任何数量的机器人被采用，而没有机器人之间的碰撞。最后，这种方法的特点，包括边界收缩控制过程中的机器人运动的收敛性，溢出清除率，以及在有限的视野和无线连接范围内的工作能力进行了验证，通过大量的仿真实验。
英文摘要：
Harmful marine spills, such as algae blooms and oil spills, damage ecosystems and threaten public health tremendously. Hence, an effective spill coverage and removal strategy will play a significant role in environmental protection. In recent years, low-cost water surface robots have emerged as a solution, with their efficacy verified at small scale. However, practical limitations such as connectivity, scalability, and sensing and operation ranges significantly impair their large-scale use. To circumvent these limitations, we propose a novel asymptotic boundary shrink control strategy that enables collective coverage of a spill by autonomous robots featuring customized operation ranges. For each robot, a novel controller is implemented that relies only on local vision sensors with limited vision range. Moreover, the distributedness of this strategy allows any number of robots to be employed without inter-robot collisions. Finally, features of this approach including the convergence of robot motion during boundary shrink control, spill clearance rate, and the capability to work under limited ranges of vision and wireless connectivity are validated through extensive experiments with simulation.
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