NDLI: Motion control for UAV-UGV cooperation with visibility constraint

Content Provider	IEEE Xplore Digital Library
Author	Klodt, L. Khodaverdian, S. Willert, V.
Copyright Year	2015
Description	Author affiliation: Inst. of Autom. Control & Mechatron., Tech. Univ. Darmstadt, Darmstadt, Germany (Klodt, L.; Khodaverdian, S.; Willert, V.)
Abstract	The subject of this paper is a cooperative scenario where an unmanned aerial vehicle (UAV) assists an unmanned ground vehicle (UGV) to achieve a higher level task. We assume that the UAV detects the UGV within a certain range with a vision sensor. While satisfying this constraint, the UAV can provide relative information about any events of interest in its field of view. The focus is on the motion control of the UAV relative to the UGV. To this end, we present a new control law that combines an extended dynamic coverage strategy with a tracking controller. Different weighting functions to combine the controllers are evaluated. The results are further compared with a second motion strategy introduced for this purpose. Both control laws guarantee that the UAV will maintain visual contact while making use of available mobility as much as possible, allowing the UAV to gather more information and act as an anticipatory element.
Starting Page	1379
Ending Page	1385
File Size	1325918
Page Count	7
File Format	PDF
e-ISBN	9781479977871
DOI	10.1109/CCA.2015.7320804
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-21
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Tracking Vehicle dynamics Vehicles Robot sensing systems Switches Dynamics Trajectory
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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