Abstract
In this paper, we propose a control algorithm with information reliability and energy management for persistent visual coverage ensuring field of views overlap. We first introduce a visual coverage control with the control barrier function which ensures no coverage holes in-between sensing areas. In order to persistify this visual monitoring, we utilize a control barrier function for energy management of robots, and propose a persistification method using information reliability over monitoring area with an integrated persistent visual coverage algorithm. Finally, we demonstrate the validity of the proposed algorithm through a simulation and experiment.
| Translated title of the contribution | Persistent visual coverage control ensuring field of views' overlap with information reliability and energy management |
|---|---|
| Original language | Japanese |
| Pages (from-to) | 417-425 |
| Number of pages | 9 |
| Journal | IEEJ Transactions on Electronics, Information and Systems |
| Volume | 141 |
| Issue number | 3 |
| DOIs | |
| State | Published - 2021/03/01 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering