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Motion Control for UAV-UGV Cooperation with Visibility Constraint

Klodt, Lukas ; Khodaverdian, Saman ; Willert, Volker :
Motion Control for UAV-UGV Cooperation with Visibility Constraint.
In: IEEE Multi-Conference on Systems and Control (MSC), Sep 21 - Sep 23, Sydney, Australia. In: Proceedings of the IEEE Multi-Conference on Systems and Control (MSC)
[Konferenz- oder Workshop-Beitrag], (2015)

Kurzbeschreibung (Abstract)

The subject of this paper is a cooperative scenario where an unmanned aerial vehicle (UAV) assists an unmanned ground vehicle (UGV) to achieve a higher level task. We assume that the UAV detects the UGV within a certain range with a vision sensor. While satisfying this constraint, the UAV can provide relative information about any events of interest in its field of view. The focus is on the motion control of the UAV relative to the UGV. To this end, we present a new control law that combines an extended dynamic coverage strategy with a tracking controller. Different weighting functions to combine the controllers are evaluated. The results are further compared with a second motion strategy introduced for this purpose. Both control laws guarantee that the UAV will maintain visual contact while making use of available mobility as much as possible, allowing the UAV to gather more information and act as an anticipatory element.

Typ des Eintrags: Konferenz- oder Workshop-Beitrag (Keine Angabe)
Erschienen: 2015
Autor(en): Klodt, Lukas ; Khodaverdian, Saman ; Willert, Volker
Titel: Motion Control for UAV-UGV Cooperation with Visibility Constraint
Sprache: Englisch
Kurzbeschreibung (Abstract):

The subject of this paper is a cooperative scenario where an unmanned aerial vehicle (UAV) assists an unmanned ground vehicle (UGV) to achieve a higher level task. We assume that the UAV detects the UGV within a certain range with a vision sensor. While satisfying this constraint, the UAV can provide relative information about any events of interest in its field of view. The focus is on the motion control of the UAV relative to the UGV. To this end, we present a new control law that combines an extended dynamic coverage strategy with a tracking controller. Different weighting functions to combine the controllers are evaluated. The results are further compared with a second motion strategy introduced for this purpose. Both control laws guarantee that the UAV will maintain visual contact while making use of available mobility as much as possible, allowing the UAV to gather more information and act as an anticipatory element.

Titel der Zeitschrift, Zeitung oder Schriftenreihe: Proceedings of the IEEE Multi-Conference on Systems and Control (MSC)
Fachbereich(e)/-gebiet(e): Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik > Regelungsmethoden und Robotik
Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik
Fachbereich Elektrotechnik und Informationstechnik
Veranstaltungstitel: IEEE Multi-Conference on Systems and Control (MSC)
Veranstaltungsort: Sydney, Australia
Veranstaltungsdatum: Sep 21 - Sep 23
Hinterlegungsdatum: 07 Okt 2015 08:10
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