Zusammenfassung
Dieser Beitrag stellt eine ereignisbasierte Methode zur kooperativen Steuerung von zwei mobilen Objekten (Agenten) vor. Das Ziel ist es, für diese Agenten kollisionsfreie Trajektorien zur Laufzeit lokal zu planen und diesen unter dem Einfluss externer Störungen zu folgen. Auf Änderungen der Trajektorie des benachbarten Agenten kann die Methode reagieren. Hierbei werden ausschließlich lokal gemessene Größen sowie die über ein unsicheres Kommunikationsnetzwerk gesendeten Informationen, die verzögert oder verloren gegangen sein können, verwendet. Die Agenten werden in einen kurshaltepflichtigen und einen ausweichpflichtigen Agenten eingeteilt. Der kurshaltepflichtige Agent folgt seiner Trajektorie, die er zur Kollisionsvermeidung mit Hindernissen ändern kann. Der ausweichpflichtige Agent muss die Kollision mit dem ersten Agenten verhindern. Hierzu wird eine Steuereinheit eingesetzt, die vier Aufgaben ausführt: Schätzung der aktuellen Netzwerkeigenschaften, Prädiktion der Bewegung des kurshaltepflichtigen Agenten, Anfordern von Informationen, Planung kollisionsfreier Trajektorien. Eine Simulationsstudie mit zwei Quadrokoptern illustriert die Vorgehensweise.
Abstract
This paper proposes an event-based method for the cooperative control of two mobile objects (agents). The aim is to plan online collision-free trajectories locally for the agents and to follow these trajectories even under the influence of external disturbances. The method is able to react to changes of the trajectory of the nearby agent. It uses only locally measured data and information, which is sent over an unreliable communication network and may be delayed or lost. The agents are divided into a stand-on agent and a give-way agent. The first agent follows its trajectory, which may be changed to avoid collisions with static obstacles. The second agent has to avoid a collision with the first agent. To this aim, a control unit is used that executes four tasks: Estimation of the current network properties, prediction of the movement of the stand-on agent, invocation of communication, planning of collision-free trajectories. A simulation study with two quadrotors illustrates the operating principle of the method.
Über die Autoren
Michael Schwung ist wissenschaftlicher Mitarbeiter am Lehrstuhl für Automatisierungstechnik und Prozessinformatik an der Ruhr-Universität Bochum. Sein Hauptarbeitsgebiet ist die ereignisbasierte Steuerung vernetzter Systeme.
Prof. Dr.-Ing. Jan Lunze ist Leiter des Lehrstuhls für Automatisierungstechnik und Prozessinformatik an der Ruhr-Universität Bochum. Seine Hauptarbeitsgebiete umfassen die Regelung vernetzter Systeme und hybrider Systeme, die fehlertolerante Regelung sowie die Regelung ereignisdiskreter Systeme.
Literatur
1. S. B. Mehdi, R. Choe and N. Hovakimyan, “Avoiding multiple collisions through trajectory replanning using piecewise Bézier curves,” IEEE 54th Conf. on Decision and Control, pp. 2755–2760, 2015.10.1109/CDC.2015.7402633Search in Google Scholar
2. L. Gupta, R. Jain and G. Vaszkun, “Survey of important issues in UAV communication networks,” IEEE Com. Surveys & Tutorials, vol. 18, no. 2, pp. 1123–1152, 2016.10.1109/COMST.2015.2495297Search in Google Scholar
3. International Maritime Organization, COLREG: Convention on the international regulations for preventing collisions at sea, 1972. London: Int. Maritime Organization, 2003.Search in Google Scholar
4. S. O. Rice, “Mathematical analysis of random noise,” The Bell System Technical Journal, vol. 23, pp. 282–332, 1944.10.1002/j.1538-7305.1944.tb00874.xSearch in Google Scholar
5. A. A. Khuwaja, Y. Chen, N. Zhao, M.-S. Alouini and P. Dobbins, “A survey of channel modeling for UAV communications,” IEEE Com. Surveys & Tutorials, vol. 20, no. 4, pp. 2804–2821, 2018.10.1109/COMST.2018.2856587Search in Google Scholar
6. T. Speth, R. Riebl, T. Brandmeier, C. Facchi, U. Jumar and A. H. Al-Bayatti, “VANET coverage analysis for GPS augmentation data in rural area,” 4th IFAC Symposium on Telematics Applications, vol. 49, no. 30, pp. 245–250, 2016.10.1016/j.ifacol.2016.11.112Search in Google Scholar
7. Y. Zhou, J. Li, L. Lamont and C.-A. Rabbath, “A Markov-based packet dropout model for UAV wireless communications,” Journal of Commu., vol. 7, no. 6, pp. 418–426, 2012.10.4304/jcm.7.6.418-426Search in Google Scholar
8. E. N. Gilbert, “Capacity of a burst-noise channel,” Bell System Technical Journal, vol. 39, pp. 1253–1265, 1960.10.1002/j.1538-7305.1960.tb03959.xSearch in Google Scholar
9. E. O. Elliott, “Estimates of error rate for codes of burst-noise channels,” Bell System Technical Journal, vol. 42, pp. 1977–1997, 1963.10.1002/j.1538-7305.1963.tb00955.xSearch in Google Scholar
10. N. Goddemeier and C. Wietfeld, “Investigation of air-to-air channel characteristics and a UAV specific extension to the Rice model,” IEEE Globecom Workshops, pp. 1–5, 2015.10.1109/GLOCOMW.2015.7414180Search in Google Scholar
11. D. Lehmann and J. Lunze, “Event-based control with communication delays and packet losses,” International Journal of Control, vol. 85, no. 5, pp. 563–577, 2012.10.1080/00207179.2012.659760Search in Google Scholar
12. J. Yoo and K. H. Johansson, “Learning communication delay patterns for remotely controlled UAV networks,” 20th World Congress, pp. 13 758–13 763, 2017.Search in Google Scholar
13. W. Heemels, A. R. Teel, N. van de Wouw and D. Nesic, “Networked control systems with communication constraints: Tradeoffs between transmission intervals, delays and performance,” IEEE Trans. on Automatic Control, pp. 1781–1796, 2010.10.1109/TAC.2010.2042352Search in Google Scholar
14. I. Skrjanc and G. Klancar, “Optimal cooperative collision avoidance between multiple robots based on Bernstein-Bézier curves,” Robotics and Autonom. Systems, vol. 58, pp. 1–9, 2010.10.1016/j.robot.2009.09.003Search in Google Scholar
15. N. E. Leonard and E. Fiorelli, “Virtual leaders, artificial potentials and coordinated control of groups,” Conf. on Decision and Control, pp. 2968–2973, 2001.Search in Google Scholar
16. Y. Lin and S. Saripalli, “Sampling based collision avoidance for UAVs,” American Control Conf., pp. 1353–1358, 2016.10.1109/ACC.2016.7525106Search in Google Scholar
17. M. Schwung and J. Lunze, “Networked event-based collision avoidance of mobile objects in a leader-follower structure,” European Journal of Control, vol. 58, pp. 327–339, 2021.10.1016/j.ejcon.2020.08.005Search in Google Scholar
18. M. Schwung, B. Littek and J. Lunze, “Cooperative event-based collision avoidance in mutli-quadrotor scenarios,” Control Engineering Practice (submitted), 2021.Search in Google Scholar
19. M. Schwung and J. Lunze, “Event-based trajectory planning for 3D collision avoidance in a leader-follower formation,” European Control Conf., pp. 1929–1936, 2020.10.23919/ECC51009.2020.9143970Search in Google Scholar
20. M. Schwung, Y. Karacora, J. Lunze and A. Sezgin, “Event-based quality-of-service parameter estimation of a wireless channel,” 6th Int. Conf. on Event-Based Control, Com. and Signal Proc., pp. 1–7, 2020.10.1109/EBCCSP51266.2020.9291361Search in Google Scholar
21. M. Schwung and J. Lunze, “Experimental evaluation of an event-based collision avoidance method with application to quadrotors,” Conf. on Contr. Tech. and Appl., pp. 633–639, 2020.10.1109/CCTA41146.2020.9206165Search in Google Scholar
22. M. Schwung, D. Vey and J. Lunze, “Quadrotor tracking control: Design and experiments,” Conf. on Contr. Tech. and Appl., pp. 768–775, 2019.10.1109/CCTA.2019.8920572Search in Google Scholar
23. J. Zhang, K. H. Johansson, J. Lygeros and S. Sastry, “Zeno hybrid systems,” Int. Journal of Robust and Nonlinear Control, vol. 11, no. 5, pp. 435–451, 2001.10.1002/rnc.592Search in Google Scholar
© 2022 Walter de Gruyter GmbH, Berlin/Boston
