A Novel Cooperative Platform Design for Coupled USV–UAV Systems

Shao, Guangming; Ma, Yong; Malekian, Reza; Yan, Xinping; Li, Zhixiong

doi:10.1109/tii.2019.2912024

Cited by 116 publications

(52 citation statements)

References 22 publications

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“…Use c in equation (8) to replace the one in equation (6). en the coordinate of intersection S 1 can be got and S 1 is the subgoal of P 1 .…”

Section: Complexitymentioning

confidence: 99%

“…e hardware-in-the-loop (HIL) real-time simulation demonstrates the effectiveness of DDDAMS. Shao et al [6] designed a cooperative USV-UAV platform, which can realize that UAV lands on a USV (Unmanned Surface Vehicle) by a hierarchical landing guide point generation algorithm. Heterogeneous system has many advantages, but how can one perform the intelligence of it in a game?…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

2020

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The UAV/UGV heterogeneous system combines the air superiority of UAV (unmanned aerial vehicle) and the ground superiority of UGV (unmanned ground vehicle). The system can complete a series of complex tasks and one of them is pursuit-evasion decision, so a collaborative strategy of UAV/UGV heterogeneous system is proposed to derive a pursuit-evasion game in complex three-dimensional (3D) polygonal environment, which is large enough but with boundary. Firstly, the system and task hypothesis are introduced. Then, an improved boundary value problem (BVP) is used to unify the terrain data of decision and path planning. Under the condition that the evader knows the position of collaborative pursuers at any time but pursuers just have a line-of-sight view, a worst case is analyzed and the strategy between the evader and pursuers is studied. According to the state of evader, the strategy of collaborative pursuers is discussed in three situations: evader is in the visual field of pursuers, evader just disappears from the visual field of pursuers, and the position of evader is completely unknown to pursuers. The simulation results show that the strategy does not guarantee that the pursuers will win the game in complex 3D polygonal environment, but it is optimal in the worst case.

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“…Use c in equation (8) to replace the one in equation (6). en the coordinate of intersection S 1 can be got and S 1 is the subgoal of P 1 .…”

Section: Complexitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

2020

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show abstract

“…Based on the above ideas, we propose a UAV-USV heterogeneous unmanned system cooperation method for offshore operations. Unlike the heterogeneous architecture proposed by Shao et al, who uses a hierarchical guidance point generation algorithm to achieve cooperative takeoff and landing control of USV [22], this paper unifies UAV and USV as members in a heterogeneous unmanned system formation, establishes dynamics models, and designs a distributed consensus controller. Due to the limited visual angle of the hawk-eye view of the UAV and the possible motion of the USVs on the sea surface beyond the field of the vision sensor's view, we use the projection point of the UAV on the sea level as the virtual leader of the USVs formation and employ the leader-following consensus method [23] to achieve the cooperative UAV-USV motion, so that the USVs are always within the field of sensor view.…”

Section: Introductionmentioning

confidence: 99%

Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

Xue

2021

JMSE

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This paper addresses the formation motion control of heterogeneous multi-agent unmanned systems via a distributed consensus approach. The considered heterogeneous system consisted of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A leader-following consensus scheme and APF method are used to construct UAV-USVs Formation task requirements. A fuzzy-based sliding mode control approach is proposed to ensure the formation assembles in a finite time, and the finite-time stability is proved by the Lyapunov stability theorem. To highlight the cooperation within the heterogeneous systems, such as UAV and USV, a novel vision-based path re-planning approach is proposed. Simulation results confirm the efficiency of the proposed approach.

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“…Physical interaction is another aspect of the heterogeneous UAV-USV system. For instance, the USV can serve as a landing platform for the UAV [23], power transmission from a USV to a UAV can be achieved through an umbilical power cable [24], and even floating object manipulation can be made through a tethered UAV system [14].…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

Kourani

Daher

2021

Preprint

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This work presents the nonlinear dynamical model and motion controller of a system consisting of an unmanned aerial vehicle (UAV) that is tethered to a floating buoy in the three-dimensional (3D) space. Detailed models of the UAV, buoy, and the coupled tethered system dynamics are presented in a marine environment that includes surface-water currents and oscillating gravity waves, in addition to wind gusts. This work extends the previously modeled planar (vertical) motion of this novel robotic system to allow its free motion in all three dimensions. Furthermore, a Directional Surge Velocity Control System (DSVCS) is hereby proposed to allow both the free movement of the UAV around the buoy when the cable is slack, and the manipulation of the buoy’s surge velocity when the cable is taut. Using a spherical coordinate system centered at the buoy, the control system commands the UAV to apply forces on the buoy at specific azimuth and elevation angles via the tether, which yields a more appropriate realization of the control problem as compared to the Cartesian coordinates where the traditional x- , y- , and z -coordinates do not intuitively describe the tether’s tension and orientation. The proposed robotic system and controller offer a new method of interaction and collaboration between UAVs and marine systems from a locomotion perspective. The system is validated in a virtual high-fidelity simulation environment, which was specifically developed for this purpose, while considering various settings and wave scenarios.

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A Novel Cooperative Platform Design for Coupled USV–UAV Systems

Cited by 116 publications

References 22 publications

Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

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