Nonlinear control for collision-free navigation of UAV fleet

被引：0
作者：
Alexander Martinez Alvarez
Carlos Alberto Lozano Espinosa
机构：
[1] Pontificia Universidad Javeriana Cali,Grupo de Automática y Robótica (GAR)
来源：
SN Applied Sciences | 2019年 / 1卷
关键词：
Sliding mode control; Collision free navigation; UAV coordination;
D O I：
暂无
中图分类号：
学科分类号：
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.
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