Coordinated Tracking of a Stationary Target in the Presence of Wind with Collision Avoidance Guarantees

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2024

Autores

Anand, P (Autor) Outra; Aguiar, AP (Autor) FEUP; Sujit, PB (Autor) Outra

Ata de Conferência Internacional

Título: ROBOT 2023: SIXTH IBERIAN ROBOTICS CONFERENCE, VOL 2

Páginas: 123-134

6th Iberian Robotics Conference (Robot)

Coimbra, PORTUGAL, NOV 22-24, 2023

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-010-EZM

DOI: 10.1007/978-3-031-59167-9_11

Abstract (EN): This paper proposes a vector field guidance law for a team of Unmanned Aircraft (UA) to track a stationary target in a circular path at a fixed stand-off radius from the position of the target. A phasing Lyapunov function is also given and, using the Lyapunov stability analysis it is ensured that the two UA will maintain a constant phase difference between them once they converge to the stand-off radius. To counter the effect of a constant background wind, the vector guidance law is modified using a variable scaling factor. During the transient phase, i.e., before converging to the stand-off radius, the possibility of having a collision between the two UA is avoided by using a Control Barrier Function (CBF) approach to generate constraint based input control functions which avoids the collision between the two UA. We also propose an algorithm for periodic and event-based communication to reduce the frequency of the information exchange between UA. Simulation results for the cases of constant communication between the two UA, periodic communication, and an event-based communication are presented which verifies the efficacy of the proposed methodology.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12