Communication Dans Un Congrès Année : 2017

On the guidance of an UAV Formation Applying Multi-Layer Control Scheme

Résumé

In robotics, the navigation problem can be split in planning, execution, checking and correction. An approach to deal with these tasks is based on the Multi-Layer Control scheme (MLCS). In this technique, each layer is responsible for an individual step of the formation control problem, such as; to define and optimize the desired robot pose; to avoid or minimize collision risks; to control the robots for accomplishing the formation, and so on. In this work, a positioning task for a platoon of six aerial robots is guided by the MLCS methodology. The procedure is developed as follows: first, the off-line planning layer organizes the desired formation according to the current robot position; then, the robots are clustered in a set of triangular formations; and finally, each triangle is controlled for reaching its desired goal. Simulation results illustrate and validate the proposal.

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Dates et versions

hal-01559359 , version 1 (10-07-2017)

Identifiants

Citer

Alexandre Santos-Brandao, Pedro Castillo Garcia, Rogelio Lozano. On the guidance of an UAV Formation Applying Multi-Layer Control Scheme. International Conference on Unmanned Aircraft Systems (ICUAS 2017), Jun 2017, Miami, FL., United States. pp.425-431, ⟨10.1109/ICUAS.2017.7991495⟩. ⟨hal-01559359⟩
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