Nonlinear control for collision-free navigation of UAV fleet

编号 030022003

推送时间 20200106

研究领域 森林经理 

年份 2020 

类型 期刊 

语种 英语

标题 Nonlinear control for collision-free navigation of UAV fleet

来源期刊 SN APPLIED SCIENCES

期 第220期

发表时间 20191108

关键词 Sliding mode control;  Collision free navigation;  UAV coordination; 

摘要 This paper presents the development of a cooperation scheme among unmanned aerial vehicle (UAV). Sliding mode control technique is used to guarantee that the set of robots can follow a reference trajectory and, in addition, will guarantee collision-free navigation of these autonomous vehicles. The analytical approach of the control strategy is shown, and the necessary conditions to guarantee the stability and governability of the multi-robot system are derived. The strategy and the derived conditions are tested using simulations, to demonstrate their effectiveness for collision-free navigation of an UAV fleet.

服务人员 付贺龙

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