论文标题
使用固定翼无人机的协调覆盖范围和容忍度
Coordinated Coverage and Fault Tolerance using Fixed-Wing Unmanned Aerial Vehicles
论文作者
论文摘要
本文提出了一种方法，用于部署和维护一支同质固定翼无人驾驶飞机（UAV）的舰队，以供某个地区覆盖。已经提出了两种游荡圆圈包装的方法：正方形和六角形包装，以及六边形包装的好处，以最大程度地减少部署的无人机数量。基于可用的无人机数量和所需的游泳高度，所提出的算法解决了一个优化问题，以计算游泳圆圈的中心和该高度的游泳半径。在同时发生多个无人机故障的情况下，该算法还结合了故障恢复能力。这些失败可能形成幸存者（活跃）无人机的集群，而没有整体幸存者信息。该算法在较高海拔处部署了具有更大通信能力的超级代理，以从故障中恢复。超级代理收集幸存者的信息，并更新同质的半径和同一高度的游荡圈子的位置，以恢复全部覆盖范围。然后，将单个幸存者无人机通知，并使用杜宾的路径传输到新的游荡圈子。已经分析了与部署无人机的可回收损失分数的关系，以改变初始叶子半径。已经提出了仿真结果，以证明该方法的适用性并比较了两种提出的包装方法。
This paper presents an approach for deploying and maintaining a fleet of homogeneous fixed-wing unmanned aerial vehicles (UAVs) for all-time coverage of an area. Two approaches for loiter circle packing have been presented: square and hexagon packing, and the benefits of hexagon packing for minimizing the number of deployed UAVs have been shown. Based on the number of UAVs available and the desired loitering altitude, the proposed algorithm solves an optimization problem to calculate the centres of the loitering circles and the loitering radius for that altitude. The algorithm also incorporates fault recovery capacity in case of simultaneous multiple UAV failures. These failures could form clusters of survivor (active) UAVs over the area with no overall survivor information. The algorithm deploys a super-agent with a larger communication capacity at a higher altitude to recover from the failure. The super-agent collects the information of survivors, and updates the homogeneous radius and the locations of the loitering circles at the same altitude to restore the full coverage. The individual survivor UAVs are then informed and transit to the new loitering circles using Dubin's paths. The relationship with the extent of recoverable loss fractions of the deployed UAVs have been analysed for varying the initial loiter radii. Simulation results have been presented to demonstrate the applicability of the approach and compare the two presented packing approaches.
