Formation control of UGVs using an UAV as remote vision sensor

Andres Hernandez, Cosmin Copot, Juan Cerquera, Harold Murcia, Robin De Keyser

Resultado de la investigación: Capítulo del libro/informe/acta de congresoCapítulo

Resumen

A leader-follower formation control scheme based on SRV-1 UGVs and an AR. DRONE 2.0 UAV as remote vision sensor is presented in this paper. The main advantage of the proposed strategy lies on the flexibility obtained from a flight remote sensor, as it makes possible to locate the agents at larger distances between them or to extend more easily the number of agents in the formation. A full description of the internal control designed for the UGVs and the UAV is presented, including the image processing procedure implemented to robustly measure the pose of the vehicles in the formation. Finally, experimental results using a triangular formation of three ground robots illustrates the effectiveness of the proposed control scheme.
Idioma originalInglés estadounidense
Título de la publicación alojadaIFAC Proceedings Volumes (IFAC-PapersOnline)
EditorialIFAC Secretariat
Páginas11872-11877
Número de páginas6
ISBN (versión impresa)9783902823625
DOI
EstadoPublicada - 2014

Serie de la publicación

NombreIFAC Proceedings Volumes (IFAC-PapersOnline)
Número3
Volumen47

    Huella digital

Citar esto

Hernandez, A., Copot, C., Cerquera, J., Murcia, H., & De Keyser, R. (2014). Formation control of UGVs using an UAV as remote vision sensor. En IFAC Proceedings Volumes (IFAC-PapersOnline) (pp. 11872-11877). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 47, N.º 3). IFAC Secretariat. https://doi.org/10.3182/20140824-6-za-1003.01660