论文标题
四轮群的动态时间插槽分配算法
Dynamic Time Slot Allocation Algorithm for Quadcopter Swarms
论文作者
论文摘要
一群四肢群可以执行合作任务，例如对大面积的监视，比单个部位更有效。但是，要成功地一起工作，四轮驱动器必须意识到其他群体成员的位置，尤其是为了避免碰撞。四轮驱动器可以通过无线电波传输来共享其自己的位置，并且为了允许多个四肢旋转器有效交流，分散的通道访问协议至关重要。我们提出了一个新的动态通道访问协议，称为动态时间插槽分配（DTSA），其中四轴以非周期性和分散的方式共享总通道访问时间。沟通需求较高的四肢旋转比不太活跃的四轮驱动器占用的时间插槽更多。我们的动态方法使代理可以适应不断变化的群体情况，因此与最先进的周期性渠道访问协议，Time Diversition Multie Access（TDMA）相比，可以有效地行事。除了模拟外，我们还使用真正的Crazyflie四轮驱动器进行实验，以显示与TDMA相比的DTSA性能的提高。
A swarm of quadcopters can perform cooperative tasks, such as monitoring of a large area, more efficiently than a single one. However, to be able to successfully work together, the quadcopters must be aware of the position of the other swarm members, especially to avoid collisions. A quadcopter can share its own position by transmitting it via radio waves and in order to allow multiple quadcopters to communicate effectively, a decentralized channel access protocol is essential. We propose a new dynamic channel access protocol, called Dynamic time slot allocation (DTSA), where the quadcopters share the total channel access time in a non-periodic and decentralized manner. Quadcopters with higher communication demands occupy more time slots than less active ones. Our dynamic approach allows the agents to adapt to changing swarm situations and therefore to act efficiently, as compared to the state-of-the-art periodic channel access protocol, time division multiple access (TDMA). Along with simulations, we also do experiments using real Crazyflie quadcopters to show the improved performance of DTSA as compared to TDMA.
