基于信号时序逻辑的多无人机任务式协调方法：风力发电机检查案例研究
机器人学
2025-01-16 v2
摘要
本文针对使用由多旋翼机构组成的无人机编队开展协作式检查任务，解决任务分配与轨迹生成问题，聚焦风力发电机检查场景。所提出的解决方案在满足安全可行轨迹的同时，能够容纳异构时序约束及车辆物理限制。构建优化问题以满足任务目标和编码为信号时序逻辑 (Signal Temporal Logic, STL) 规范的时序要求。此外，引入基于事件触发的重规划器以应对突发事件并弥补时间损失。进一步采用广义鲁棒性评分方法以反映用户偏好并缓解任务冲突。通过 MATLAB 与 Gazebo 模拟实验以及.mock-up 场景中的现场多机器人实验，验证了所提方法的有效性。
引用
@article{arxiv.2409.12713,
title = {A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study},
author = {Giuseppe Silano and Alvaro Caballero and Davide Liuzza and Luigi Iannelli and Stjepan Bogdan and Martin Saska},
journal= {arXiv preprint arXiv:2409.12713},
year = {2025}
}
备注
\c{opyright}2025 Elsevier. This work has been accepted to "Robotics and Autonomous Systems" for possible publication. Personal use of this material is permitted. Permission from Elsevier must be obtained for all other uses