Formation control of unmanned micro aerial vehicles for straitened environments

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00342236" target="_blank" >RIV/68407700:21230/20:00342236 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1007/s10514-020-09913-0" target="_blank" >https://doi.org/10.1007/s10514-020-09913-0</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s10514-020-09913-0" target="_blank" >10.1007/s10514-020-09913-0</a>

Result language
angličtina
Original language name
Formation control of unmanned micro aerial vehicles for straitened environments
Original language description
This paper presents a novel approach for control and motion planning of formations of multiple unmanned micro aerial vehicles(multi-rotor helicopters, in the literature also often called unmanned aerial vehicles—UAVs or unmanned aerial system—UAS) in cluttered GPS-denied on straitened environments. The proposed method enables us to autonomously design complexmaneuvers of a compact Micro Aerial Vehicles (MAV) team in a virtual-leader-follower scheme. The results of the motionplanning approach and the required stability of the formation are achieved by migrating the virtual leader along with the hullsurrounding the formation. This enables us to suddenly change the formation motion in all directions, independently from thecurrent orientation of the formation, and therefore to fully exploit the maneuverability of small multi-rotor helicopters. Theproposed method was verified and its performance has been statistically evaluated in numerous simulations and experimentswith a fleet of MAVs.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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)

Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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