使用多无人机系统进行三维检查的分布式控制
Distributed Control for 3D Inspection using Multi-UAV Systems
AI总结：
本文提出一种多无人机系统的分布式控制算法，通过生成无碰撞轨迹以最短时间协同检查目标对象表面的3D点，数值仿真验证了其有效性。
摘要：
多无人机系统的协同控制因其在应急响应、搜救任务以及关键基础设施检查等多个应用领域的重要性，引起了广泛的研究关注。本文提出了一种分布式控制算法，用于生成无碰撞轨迹，驱动多无人机系统完整检查目标对象表面的一组3D点。无人机的目标是以最短时间协同检查目标对象。针对一组四旋翼无人机检查真实3D结构的大量数值仿真，证明了所提方法的有效性。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
