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.
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