Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Complex manoeuvres of heterogeneous MAV-UGV formations using a model predictive control

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

—

Projekt

<a href="/cs/project/7AMB16FR017" target="_blank" >7AMB16FR017: Kooperativní dohled a senzorické snímání heterogenními týmy bezpilotních vzdušných a pozemních prostředků</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of MMAR'2016

ISBN

978-1-5090-1866-6

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

998-1003

Název nakladatele

West Pomeranian University of Technology

Místo vydání

Szczecin

Místo konání akce

Międzyzdroje

Datum konání akce

29. 8. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000392500900175