Path-Following with a UGV-UAV Formation Considering that the UAV Lands on the UGV

被引：0

作者：

Bacheti, Vinicius Pacheco ^{[1
]}

Brandao, Alexandre Santos ^{[2
]}

Sarcinelli-Filho, Mario ^{[1
]}

机构：

[1] Univ Fed Espirito Santo, Grad Program Elect Engn, Vitoria, ES, Brazil

[2] Univ Fed Vicosa, Dept Elect Engn, Vicosa, MG, Brazil

来源：

2020 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS'20) | 2020年

关键词：

TRAJECTORY-TRACKING; PRECISION AGRICULTURE; MOBILE ROBOTS; CONTROLLER; SYSTEMS;

D O I：

10.1109/icuas48674.2020.9213918

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the control of a formation composed of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV). The formation navigates in a coordinated way, with the UAV following the UGV while keeping a relative pose with respect to the UGV as long as the UGV follows a specified path, so that the UAV can land on the UGV at any desired instant. This application is conceived in a context in which the UAV has finished a package delivery task and comes back to land over a platform used as a base for the package delivery operation. Experimental results are presented, which validate the approach adopted to accomplish such a task.

引用

页码：488 / 497

页数：10

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