Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00300901" target="_blank" >RIV/68407700:21230/16:00300901 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/document/7575274/" target="_blank" >http://ieeexplore.ieee.org/document/7575274/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/MMAR.2016.7575274" target="_blank" >10.1109/MMAR.2016.7575274</a>
Alternative languages
Result language
angličtina
Original language name
Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control
Original language description
A problem of motion planning and coordination of compact formations of ground and aerial robots will be tackled in this paper. The scenarios when the formation composed from Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs), in particular Micro Aerial Vehicles (MAVs), has to reverse the direction of movement to fulfil task of collision free motion to a target zone will be solved. The presented motion planning and stabilization approach provides an effective technique to enable deployment of closely cooperating teams of robots in outdoor as well as indoor environment. The formation to target region problem is solved using a Model Predictive Control (MPC) methodology and the formation driving concept is based on a virtual-leader-follower approach. The mentioned MPC based process is used for trajectory planning and control of a virtual leader and also for control and stabilization of followers (MAVs and UGVs). The proposed approach is verified with numerous simulations and hardware experiments.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/7AMB16FR017" target="_blank" >7AMB16FR017: Cooperative surveillance and environment monitoring by heterogeneous teams of unmanned aerial vehicles</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2016
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 MMAR'2016
ISBN
978-1-5090-1866-6
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
998-1003
Publisher name
West Pomeranian University of Technology
Place of publication
Szczecin
Event location
Międzyzdroje
Event date
Aug 29, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000392500900175