A formation cooperative reconnaissance strategy for multi-UGVs in partially unknown environment

Zhang, Haojie; Yang, Tiantian; Su, Zhibao

doi:10.1080/02533839.2023.2227879

Cited by 2 publications

(3 citation statements)

References 29 publications

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“…It is of vital importance to venture further into the obstacle avoidance methods like in [31][32][33][34][35]. In [31], a controller is designed based on a fuzzy cascaded PID method, which employs artificial potential algorithm to avoid obstacles and ensure the fleet stays in for-mation.…”

Section: Related Literaturementioning

confidence: 99%

“…The task was formulated as a receding-horizon optimization problem and was solved under the Nonlinear Model Predictive Control (NMPC) framework, while an Extended Kalman Filter (EKF) is integrated into the robot's controller for the human's movements. Furthermore, the authors in [34] propose a scheme for cooperative reconnaissance of multiple unmanned ground vehicles. Initially, the robotic agents are exploring the partially known workspace and secondly the agents get into formation and transverse the set space.…”

Section: Related Literaturementioning

confidence: 99%

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Motion Coordination of Multiple Autonomous Mobile Robots under Hard and Soft Constraints

Anogiatis,

Trakas,

Bechlioulis

2024

Electronics

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This paper presents a distributed approach to the motion control problem for a platoon of unicycle robots moving through an unknown environment filled with static obstacles under multiple hard and soft operational constraints. Each robot has an onboard camera to determine its relative position in relation to its predecessor and proximity sensors to detect and avoid nearby obstascles. Moreover, no robot apart from the leader can independently localize itself within the given workspace. To overcome this limitation, we propose a novel distributed control protocol for each robot of the fleet, utilizing the Adaptive Performance Control (APC) methodology. By utilizing the APC approach to address input constraints via the on-line modification of the error specifications, we ensure that each follower effectively tracks its predecessor without encountering collisions with obstacles, while simultaneously maintaining visual contact with its preceding robot, thus ensuring the inter-robot visual connectivity. Finally, extensive simulation results are presented to demonstrate the effectiveness of the presented control system along with a real-time experiment conducted on an actual robotic system to validate the feasibility of the proposed approach in real-world scenarios.

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Section: Related Literaturementioning

confidence: 99%

Section: Related Literaturementioning

confidence: 99%

Motion Coordination of Multiple Autonomous Mobile Robots under Hard and Soft Constraints

Anogiatis,

Trakas,

Bechlioulis

2024

Electronics

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“…The cooperation among heterogeneous systems exploits the diversity of features in unmanned system to achieve such mission objectives which are near impossible for homogenous systems. Forming a cooperative reconnaissance strategy for multiple unmanned vehicles in unknown areas has proven to be reliable and improves the heading errors of the vehicles [1]. Effective reconnaissance in modern military applications possesses the key for a strategic advantage, and also helps to neutralize surprise attacks, ambushes and can prevent the damages through improvised explosive devices (IEDs) with proactive sensory modules [2].…”

Section: Introductionmentioning

confidence: 99%

Enhancing Reconnaissance Missions Through Multiple Unmanned Systems in ROS

ul Husnain,

Mokhtar,

Ito

et al. 2024

Proceedings of International Conference on Artificial Life and Robotics

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The synergistic collaboration between UAVs and UGVs addresses the limitations of individual platforms, offering a versatile solution for reconnaissance tasks in diverse environments. The proposed system employs ROS as the underlying architecture to facilitate seamless communication and coordination among multiple UAVs and UGVs. We delve into the intricacies of developing a robust communication framework that enables real-time data exchange and decision-making, fostering a synchronized and adaptive operation. Furthermore, the article explores strategies for path planning and navigation, considering the unique mobility constraints of UAVs and UGVs. Optimal coverage is ensured through efficient exploration and coverage of the reconnaissance area, under by comparing raster-scan, expanding spiral and zig-zag area exploration approaches. The article concludes by discussing potential extensions, such as the integration of machine learning techniques for enhanced autonomy and the scalability of the system for larger-scale missions by presenting a ROS-based framework that maximizes the synergy between UAVs and UGVs.

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A formation cooperative reconnaissance strategy for multi-UGVs in partially unknown environment

Cited by 2 publications

References 29 publications

Motion Coordination of Multiple Autonomous Mobile Robots under Hard and Soft Constraints

Motion Coordination of Multiple Autonomous Mobile Robots under Hard and Soft Constraints

Enhancing Reconnaissance Missions Through Multiple Unmanned Systems in ROS

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