کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10326816 679649 2015 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
UAV-UGVs cooperation: With a moving center based trajectory
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
UAV-UGVs cooperation: With a moving center based trajectory
چکیده انگلیسی
This paper addresses the problem of relating the motion of a fixed-wing unmanned aerial vehicle (UAV) with a less constrained agent (LCA) whose motion pattern is comparable to unmanned ground vehicles (UGVs). The main challenge of the scenario is different velocity constraints for UAV and the LCA. To rise to the challenge, for fixed-wing UAV a novel moving center trajectory is proposed whose center is determined by the LCA. Moreover, the sufficient conditions on the proposed trajectory for fulfillment of UAV constraints are derived. In the next step, ambient disturbances like wind gust are considered for UAV heading rate computation which are mitigated by employment of the well known sliding mode controller. Simulation results validate the performance of the proposed approach.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 63, Part 1, January 2015, Pages 1-9
نویسندگان
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