Visual Coverage Maintenance for Quadcopters Using Nonsmooth Barrier Functions

摘要

This paper presents a coverage control algorithm for teams of quadcopters with downward facing visual sensors that prevents the appearance of coverage holes in-between the monitored areas while maximizing the coverage quality as much as possible. We derive necessary and sufficient conditions for preventing the appearance of holes in-between the fields of views among trios of robots. Because this condition can be expressed as logically combined constraints, control nonsmooth barrier functions are implemented to enforce it. An algorithm which extends control nonsmooth barrier functions to hybrid systems is implemented to manage the switching among barrier functions caused by the changes of the robots composing trio. The performance and validity of the proposed algorithm are evaluated in simulation as well as on a team of quadcopters.