Communication Dans Un Congrès Année : 2024

Mixed guidance law for capturing a reactive target by coordinated Multi-UAV

Résumé

We present a pursuit law for capturing a moving target with multiple aerial drones in a bounded environment. The objective is to develop strategies to allow a set of drones to perform a mission cooperatively to complete the task. The presented method combines two established pursuit laws: Group Deviated Pure Pursuit (GDP) and Proportional Navigation Guidance (PNG), and the resulting control architecture is in a cascade form. The results were validated in simulation and experimentation on quadrotor aerial drones. The obtained results confirmed the efficacy of the group mixed pursuit strategy, especially in the case of an agile and faster target. A video of the performed experiments can be seen at: https://youtu.be/cRKRUOV-lV4.

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Dates et versions

hal-04742967 , version 1 (18-10-2024)

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  • HAL Id : hal-04742967 , version 1

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Felipe Kataoka Ishikawa, Sarah Aouiche, Bojan Mavkov, Guillaume Allibert. Mixed guidance law for capturing a reactive target by coordinated Multi-UAV. 2024 International Conference on Control, Automation, Robotics and Vision (ICARCV), Dec 2024, Dubai, United Arab Emirates. ⟨hal-04742967⟩
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