Persistent Visual Coverage Control Ensuring Field of Views' Overlap with Information Reliability and Energy Management

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  • Yamauchi Junya
    Graduate School of Information Science and Technology, The University of Tokyo
  • Gencho Takuma
    School of Engineering, Tokyo Institute of Technology
  • Funada Riku
    School of Engineering, Tokyo Institute of Technology
  • Hatanaka Takeshi
    School of Engineering, Tokyo Institute of Technology
  • Fujita Masayuki
    Graduate School of Information Science and Technology, The University of Tokyo School of Engineering, Tokyo Institute of Technology

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  • 情報信頼度とエネルギー管理を考慮した視野重複を保証する持続的視覚被覆制御
  • ジョウホウ シンライド ト エネルギー カンリ オ コウリョ シタ シヤ チョウフク オ ホショウ スル ジゾクテキ シカク ヒフク セイギョ

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<p>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.</p>

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