Navigation, localization and stabilization of formations of unmanned aerial and ground vehicles

Saska, Martin and Krajnik, Tomas and Vonasek, Vojtech and Vanek, Petr and Preucil, Libor (2013) Navigation, localization and stabilization of formations of unmanned aerial and ground vehicles. In: Unmanned Aircraft Systems (ICUAS), 2013 International Conference on , 28-31 May 2013 , Atlanta, GA .

Full content URL: http://dx.doi.org/10.1109/ICUAS.2013.6564767

Documents
06564767.pdf
[img]
[Download]
[img]
Preview
PDF
06564767.pdf - Whole Document

1MB
Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

A leader-follower formation driving algorithm developed for control of heterogeneous groups of unmanned micro aerial and ground vehicles stabilized under a top-view relative localization is presented in this paper. The core of the proposed method lies in a novel avoidance function, in which the entire 3D formation is represented by a convex hull projected along a desired path to be followed by the group. Such a representation of the formation provides non-collision trajectories of the robots and respects requirements of the direct visibility between the team members in environment with static as well as dynamic obstacles, which is crucial for the top-view localization. The algorithm is suited for utilization of a simple yet stable visual based navigation of the group (referred to as GeNav), which together with the on-board relative localization enables deployment of large teams of micro-scale robots in environments without any available global localization system. We formulate a novel Model Predictive Control (MPC) based concept that enables to respond to the changing environment and that provides a robust solution with team members' failure tolerance included. The performance of the proposed method is verified by numerical and hardware experiments inspired by reconnaissance and surveillance missions.

Keywords:Microrobots, Mobile robots, Multi-robot systems, Navigation, Path planning, Predictive control, Remotely operated vehicles, Stability, Lead, Planning, Robot kinematics, Trajectory, Visualization
Subjects:H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
ID Code:13797
Deposited On:14 Apr 2014 14:34

Repository Staff Only: item control page