一种用于沙漠探索的极简三维自组织无人机集群方法
A Minimalistic 3D Self-Organized UAV Flocking Approach for Desert Exploration
AI总结：
提出一种仅靠机载相对距离与方位、采用三维 Lennard-Jones 势函数的极简自组织无人机集群方法，并经九架无人机在 GNSS 拒止环境下验证。
摘要：
在本工作中，我们提出了一种用于多旋翼无人机（UAV）的极简集群编队方法。该方法使集群能够在没有外部提供的方向信息交换（对齐控制）的情况下，沿随机方向实现凝聚且对齐的集群飞行（集体运动）。该方法依赖极简的传感需求，因为它仅使用由无人机机载传感器获得的、邻近集群智能体的相对距离和方位。因此，我们的方法能够在集群成员之间没有任何显式通信的情况下，在陡峭地形上方稳定并控制一般形状的集群。为了以三维方式实现近距控制，使用 Lennard-Jones 势函数来维持凝聚性并避免机器人之间的碰撞。所提方法的性能在真实世界条件下通过由九架无人机组成的团队进行了实验测试。实验还展示了我们的方法在不依赖外部定位系统（如全球导航卫星系统，GNSS）的无人机上的使用。实验仅依赖我们团队先前提出的通过紫外测向与测距（UVDAR）系统进行的相对视觉定位，验证了我们的系统可应用于 GNSS 拒止环境。所达到的对齐度和凝聚度使用有序度和稳态值指标进行了评估。
英文摘要：
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without externally provided directional information exchange (alignment control). The method relies on minimalistic sensory requirements as it uses only the relative range and bearing of swarm agents in local proximity obtained through onboard sensors on the UAV. Thus, our method is able to stabilize and control the flock of a general shape above a steep terrain without any explicit communication between swarm members. To implement proximal control in a three-dimensional manner, the Lennard-Jones potential function is used to maintain cohesiveness and avoid collisions between robots. The performance of the proposed approach was tested in real-world conditions by experiments with a team of nine UAVs. Experiments also present the usage of our approach on UAVs that are independent of external positioning systems such as the Global Navigation Satellite System (GNSS). Relying only on a relative visual localization through the ultraviolet direction and ranging (UVDAR) system, previously proposed by our group, the experiments verify that our system can be applied in GNSS-denied environments. The degree achieved of alignment and cohesiveness was evaluated using the metrics of order and steady-state value.
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