Path-following by a UGV-UAV Formation Based on Null Space

Vinícius Pacheco Bacheti, Alexandre Santos Brandão, M. Sarcinelli-Filho
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引用次数: 4

Abstract

This paper addresses the control of a formation composed of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV) using the concepts of null space control. The formation navigates in a coordinated way, with the UAV following the UGV, keeping a relative pose with respect to it, while the UGV follows a specified path. The goal is that the UAV lands on the UGV at any desired instant, a situation quite similar to the return of the UAV to a moving base after delivering a package. Null space control techniques are used in order to get more precise control on the relative pose between the robots, increasing the reliability of the landing operation. Experimental results are presented and discussed, which validate the approach proposed to accomplish the desired task.
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基于零空间的UGV-UAV编队路径跟踪
本文利用零空间控制的概念研究了无人地面飞行器(UGV)和无人飞行器(UAV)组成的编队的控制问题。编队以协调方式导航,无人机跟随UGV,保持相对姿态,而UGV遵循指定路径。目标是无人机在任何期望的瞬间降落在UGV上,这种情况非常类似于无人机在运送包裹后返回移动基地。采用零空间控制技术对机器人之间的相对姿态进行更精确的控制,提高了着陆操作的可靠性。最后给出了实验结果并进行了讨论,验证了所提出的方法能够完成预期的任务。
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