3D Area Monitoring Using Group Control Technique and Dynamic Repellers

The paper considers the monitoring problem for a non-determined 3d environment with obstacles, using a group of vehicles. The missions of vehicles include 3d area monitoring with a distribution width of robots, obstacle/neighbors avoiding and keeping inside the desired region. The non-determined obstacles are placed along all the flight path. This obstacle avoiding problem is achieved by a hybrid intelligent group control system, based on using dynamic repellers. This technique allows avoiding collisions with obstacles and neighbors through the whole way. The neighbors, determining with their location and obstacles position analysis, are the basis of the intelligent side of technique. This paper describes the direction analysis technique for each robot in a group which is based on the segmentation of sensor system regions according to a current position of detected obstacles. The proposed instant correction method for a flight path uses the addition of components to calculated control. This component switches flight mode from a stable to unstable mode when the obstacle occurs. The paper shows computer simulation results of a described technique for an unmanned aerial vehicle group with a monitoring mission.