Verification of Coverage Control for Multi-Copter with Local Optimal Solution Avoidance and Collision Avoidance Using Random-walk and Artificial Potential Method

摘要

This paper combines coverage control, random-walk and artificial potential method to deploy multi-copter type Unmanned Aerial Vehicles (UAVs). With the coverage control, it is able to deploy agents in the coverage area with arbitrary distribution based on the purpose of control. However, when initial position of agents concentrates on one location, it could be fallen into the local optimal solution (local optimal problem). While the local optimal problem, agents could not achieve the distribution based on the purpose of control. Meanwhile, random-walk takes vectorial angle randomly and move constant distance. By using this movement, it is possible to disperse the initial position of UAVs. Therefore, the local optimal problem could be solved by combining random-walk to coverage control. Moreover, using the artificial potential method as a repulsive force to avoid the collision between agents. This paper verifies the validity of proposed method by numerical simulation.