A novel leader-following strategy applied to formations of quadrotors

Roldao, Valter; Cunha, Rita; Cabecinhas, David; Silvestre, Carlos; Oliveira, Paulo

doi:10.23919/ecc.2013.6669804

Cited by 9 publications

(2 citation statements)

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“…On the other hand, if the Leader's rotation is anti-clockwise the Follower moves in an inner circle, corresponding to the solution R ⋆ 2 in (15). This behavior is proposed because the Leader's third axes I L Re 3 inverts direction from clockwise to anti-clockwise paths but it is desirable that the virtual Follower's third axes I F Re 3 remains aligned with n, mimicking the behavior of a 2D trailer with d y = 0 [12]. For a Leader vehicle describing a planar path, the Follower is also required to describe a planar path in a plane parallel to that of the Leader, leading to ( I L Re 3 ) T I F Re 3 = ±1.…”

Section: B Trajectory Planner For a Generic Rigid Linkmentioning

confidence: 98%

Three dimensional trajectory planner for real time leader following

Pereira

Cabecinhas

Cunha

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents an on-line three dimensional trajectory planner for an unmanned vehicle following a Leader vehicle, where the Follower remains at a specified relative position with respect to the Leader. The planner defines the trajectory for a virtual vehicle that will be used as reference for the real Follower vehicle. The virtual Follower behaves like a three dimensional trailer attached to the Leader and its reference frame is used to specify the relative position vector. At the kinematic level, the proposed planner requires only the knowledge of the Leader's linear speed, but not its angular speed, and the Follower's trajectory can be generated on-line, in the sense that no a priori knowledge of the Leader's trajectory is required. Experimental results obtained with quadrotor vehicles are presented, which demonstrate the richness of the planned trajectories.

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Section: B Trajectory Planner For a Generic Rigid Linkmentioning

confidence: 98%

Three dimensional trajectory planner for real time leader following

Pereira

Cabecinhas

Cunha

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

Self Cite

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“…On the other hand, unmanned aerial vehicle (UAV) location equipment is a kind of high-speed camera, VICON. 3,4 However, the laser-radar and VICON are not only expensive but also needs typical computer support. They are lack of commercial margin because of high manufacturing cost.…”

Section: Introductionmentioning

confidence: 99%

Design of a new Robot Operating System-MATLAB-based autonomous robot system and trajectory tracking experiment

Yu,

Ge,

Wong

2024

International Journal of Advanced Robotic Systems

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The trajectory tracking performance of an actual robot is usually used as an important standard to evaluate a nonlinear controller algorithm. The aim of this article is to design a new experimental robot system based on the Robot Operating System-MATLAB framework. To validate the performance, a nonlinear tracking controller includes the following features. Firstly, the surface robot model is in Lie algebra [Formula: see text] format, which keeps the potential of cooperation control between space vehicles. Secondly, the nonlinear controller has good robustness under unknown disturbances. Thirdly, the control algorithm focuses on the practical robot, Turtlebot2. The robot system experimental results demonstrate the effectiveness of the proposed controller for trajectory tracking under unknown disturbance. The controller’s potential applications include autonomous robots for indoor examination, extreme condition rescuing, and cooperation between unmanned aerial vehicle and unmanned surface vehicle autodrives.

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