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Communication Dans Un Congrès Année : 2021

Virtual Leader based Trajectory Generation of UAV Formation for Visual Area Coverage

Résumé

This paper proposes a trajectory generation strategy of quadcopter formation for area surveillance and inspection using multiple cameras. The proposed technique exploits a minimal virtual-leader based network topology to generate the executable trajectories where generating trajectories for each agent is no longer necessary. A coverage path planning algorithm is employed to generate a set of planar waypoints, which are then optimised to yield a minimum-jerk time-parametrised trajectory with dynamical constraints of the virtual leader to follow. In order to establish a formation pattern, the desired distance among the agents is then computed based on the operation mode, size of the area to cover, and the number of deployed UAVs. Numerical simulations demonstrate the effectiveness of the proposed method.
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Dates et versions

hal-03359206 , version 1 (30-09-2021)

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Citer

Hilton Tnunay, Kaouther Moussa, Ahmad Hably, Nicolas Marchand. Virtual Leader based Trajectory Generation of UAV Formation for Visual Area Coverage. IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society (IES), Oct 2021, Toronto (virtual ), Canada. ⟨10.1109/IECON48115.2021.9589446⟩. ⟨hal-03359206⟩
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