Title :
Leader-following control of a UAV-UGV formation
Author :
Brandao, Alexandre Santos ; Sarcinelli-Filho, Mario ; Carelli, Ricardo
Author_Institution :
Dept. of Electr. Eng., Fed. Univ. of Vicosa, Vicosa, Brazil
Abstract :
In this work a nonlinear controller capable to guide a leader-follower formation involving a UAV and a UGV in the accomplishment of positioning and trajectory tracking missions is presented. A centralized structure is implemented to share information about the current pose of the vehicles and to determine the relative position between them. The asymptotic stability of the closed-loop system is demonstrated, and experimental results are presented and discussed, validating the controller.
Keywords :
asymptotic stability; autonomous aerial vehicles; closed loop systems; mobile robots; multi-robot systems; nonlinear control systems; trajectory control; UAV-UGV formation; asymptotic stability; centralized structure; closed-loop system; information sharing; leader-follower formation; leader-following control; nonlinear controller; positioning mission; trajectory tracking mission; unmanned aerial vehicle; unmanned ground vehicle; Asymptotic stability; Lead; Robot kinematics; Stability analysis; Vectors; Vehicles;
Conference_Titel :
Advanced Robotics (ICAR), 2013 16th International Conference on
Conference_Location :
Montevideo
DOI :
10.1109/ICAR.2013.6766592
