抄録
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.
| 寄稿の翻訳タイトル | Persistent visual coverage control ensuring field of views' overlap with information reliability and energy management |
|---|---|
| 本文言語 | 日本 |
| ページ（範囲） | 417-425 |
| ページ数 | 9 |
| ジャーナル | IEEJ Transactions on Electronics, Information and Systems |
| 巻 | 141 |
| 号 | 3 |
| DOI | |
| 出版ステータス | 出版済み - 2021/03/01 |
キーワード
- Control barrier function
- Energy management
- Information reliability
- Visual coverage control
ASJC Scopus 主題領域
- 電子工学および電気工学