Formation control of unmanned micro aerial vehicles for straitened environments

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Formation control of unmanned micro aerial vehicles for straitened environments

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Formation control of unmanned micro aerial vehicles for straitened environments

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název periodika

Autonomous Robots

ISSN

0929-5593

e-ISSN

1573-7527

Svazek periodika

44

Číslo periodika v rámci svazku

6

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

18

Strana od-do

991-1008

Kód UT WoS článku

000521770500001

EID výsledku v databázi Scopus

2-s2.0-85082930617