Artificial vector fields for robot convergence and circulation of time-varying curves in n-dimensional spaces

Gonçalves, Vinícius Mariano; Pimenta, Luciano C. A.; Maia, Carlos Andrey; Pereira, Guilherme A. S.

doi:10.1109/acc.2009.5160350

Cited by 15 publications

(11 citation statements)

References 11 publications

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“…This paper extends our preliminary results presented in [22], in which we have shown an early version of the proposed vector field. This field is based on the sum of three terms: 1) convergence; 2) circulation; and 3) correction term.…”

Section: Introductionsupporting

confidence: 83%

Vector Fields for Robot Navigation Along Time-Varying Curves in $n$-Dimensions

et al. 2010

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This paper presents a methodology for computation of artificial vector fields that allows a robot to converge to and circulate around generic curves specified in n-dimensional spaces. These vector fields may be directly applied to solve several robotnavigation problems such as border monitoring, surveillance, target tracking, and multirobot pattern generation, with special application to fixed-wing aerial robots, which must keep a positive forward velocity and cannot converge to a single point. Unlike previous solutions found in the literature, the approach is based on fully continuous vector fields and is generalized to time-varying curves defined in n-dimensional spaces. We provide mathematical proofs and present simulation and experimental results that illustrate the applicability of the proposed approach. We also present a methodology for construction of the target curve based on a given set of its samples.

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Section: Introductionsupporting

confidence: 83%

Vector Fields for Robot Navigation Along Time-Varying Curves in $n$-Dimensions

et al. 2010

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“…The algorithm proposed by [24] was tested in one of our test aircraft. The mission was to make a hand-held takeoff, reach an altitude of 150 meters while circulating a circumference with 150 meter radius (Fig.…”

Section: E Guidance and Navigation Algorithmsmentioning

confidence: 99%

On the development of a small hand-held multi-UAV platform for surveillance and monitoring

Avellar

Thums

Lima

et al. 2013

2013 International Conference on Unmanned Aircraft Systems (ICUAS)

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This paper addresses the ongoing process of development of a small hand-held multiple unmanned aerial vehicle platform for surveillance and monitoring. The project cover all phases of development, from aerodynamic design and mechanical assembly, through fine tuning low level control loops and design of an attitude and heading reference system, up to implementation of navigation algorithms and finally flight testing. Commercial hardware is used to speed up development, allowing the team responsible for implementing the navigation algorithms to execute and test while the team responsible for the aerodynamics and electronics can design and compare results. I. INTRODUCTIONSmall Unnamed Aerial Vehicles (SUAVs) are a class of robotic airships, which equipped with cameras and special sensors, can be used in several applications. The importance of these vehicles has grown continuously in the last years, especially for military and reconnaissance purposes, particularly in operations where the tasks are dangerous or tedious for human pilots. A special type of SUAV is constituted by hand launched fixed-wing air vehicles that can be easily operated by a single user in an outdoor environment. For this vehicles, several applications exist, such as forest fire monitoring [1], multispectral agricultural remote sensing and crop management [2], urban environment monitoring [3], real time mapping of disaster areas [4], power line inspection [5] and many others.

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“…Como continuidade, está sendo considerando o caso de curvas variantes no tempo conforme resultados iniciais apresentados em (Gonçalves et al, 2009). Trabalhos futuros também incluem a implementação da metodologia em robôs terrestres e aéreos.…”

Section: Conclusões E Trabalhos Futu-rosunclassified

“…De fato, metodologias capazes de gerar campos vetoriais em espaços de dimensões maiores que dois não puderam ser encontradas na literatura até a presente data, e constituem a principal contribuição dos autores deste artigo. Exceções são feitas aos artigos dos próprios autores deste tra-balho em uma conferência nacional (Gonçalves et al, 2008), onde espaços de três dimensões são considerados, e outra internacional (Gonçalves et al, 2009), onde já se considera espaços de dimensão n > 2.…”

Section: Introductionunclassified

Navegação de robôs utilizando curvas implícitas

Gonçalves

Maia

Pereira

et al. 2010

Sba Controle & Automação

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Em diversas aplicações robóticas que incluem monitoramento, mapeamento e vigilância, robôs devem seguir caminhos fechados que podem ter formas diversas, determinadas pela aplicação. Neste artigo é proposta uma metodologia para navegação de robôs em tarefas como estas, onde o caminho do robô pode ser definido como a intercessão de cur-vas de nível de determinadas funções. Além do caminho, a lei de controle do robô também é definida por meio de um campo vetorial criado a partir destas funções. A principal contribuição deste artigo é a construção de campos vetoriais em espaços n-dimensionais. Prova-se que um robô holonômico controlado por este campo converge e circula a curva especificada. O artigo mostra ainda que o campo resultante é contínuo e pode ser modificado para manter o módulo da velocidade do robô constante, característica importante para controle de alguns robôs aéreos, como é o caso de aviões não-tripulados. Finalmente, é mostrada uma técnica numérica, baseada na soma ponderada de funções de base radial, para criação das funções que determinam o caminho a ser seguido pelo robô. Simulações realizadas com um robô móvel não-holonômico sujeito a erros de localização ilustram o potencial da técnica para a navegação de diversos tipos de robôs.

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Artificial vector fields for robot convergence and circulation of time-varying curves in n-dimensional spaces

Cited by 15 publications

References 11 publications

Vector Fields for Robot Navigation Along Time-Varying Curves in $n$-Dimensions

Vector Fields for Robot Navigation Along Time-Varying Curves in $n$-Dimensions

On the development of a small hand-held multi-UAV platform for surveillance and monitoring

Navegação de robôs utilizando curvas implícitas

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