artículo de publicación periódica.page.titleprefix Multi-UAV specification and control with a single pilot-in-the-loop
Loading...
Date
2020-10
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
"This work presents a multi-unmanned aerial vehicle formation implementing a trajectory-following controller based on the clusterspace robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results
are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles."
Description
Keywords
VEHICULOS AEREOS NO TRIPULADOS, CONTROL AUTOMATICO, NAVEGACION