Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00198993" target="_blank" >RIV/68407700:21230/12:00198993 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach
Original language description
A navigation and stabilization scheme for 3D heterogeneous (UAVs and UGVs) formations acting under a hawk-eye like relative localization is presented in this paper. We formulate a novel Model Predictive Control (MPC) based concept for formation driving in a leader-follower constellation into a required target region. The formation to target region problem in 3D is solved using the MPC methodology for both: i) the trajectory planning and control of a virtual leader, and ii) the control and stabilizationof followers - UAVs and UGVs. The core of the method lies in a novel avoidance function based on a model of the formation respecting requirements of the direct visibility between the team members in environment with obstacles, which is crucial for the hawk-eye localization.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
ISBN
978-1-4673-1735-1
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
2166-2171
Publisher name
IEEE
Place of publication
Piscataway
Event location
Vilamoura, Algarve
Event date
Oct 7, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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