Abstract:Traditional Global Navigation Satellite Systems (GNSS) experience their limitations in urban canyons. However, it is significant to improve the accuracy of positioning with the rapid development of smart cities. To solve this problem, a UGV-UAV robust cooperative positioning algorithm with object detection is proposed, which utilises an unmanned aerial vehicle (UAV) to assist an unmanned ground vehicle (UGV) to achieve accurate positioning. When the UAV is in the sky with a good reception of satellite signals,… Show more
“…r(q v ) ≥ r max (18) where k β denotes the scalar control factor. In addition, r max and r min denote the maximum and minimum distances influenced by the other vehicle, respectively.…”
Section: ) Formation Control Based On the Artificial Potential Field ...mentioning
This paper presents the development and field testing of multiple autonomous surface vehicles (ASVs) for autonomous cooperative navigation tasks in marine environments. The developed ASVs were designed in a catamaran hull form, and various systems related to autonomous functionalities, including the electrical propulsion, wireless communication, and guidance, navigation, and control (GNC) systems, were integrated with the situational awareness sensor system. Because not all of the navigation and situational awareness sensor data can be shared owing to the large network load, the network communication and data protocol structure was designed to enhance the data management efficiency. Furthermore, for cooperative navigation between multiple ASVs, the network communication system was synchronously shared with motion information through a robot operating system (ROS) multi-master system. In particular, an autonomy framework with cooperative navigation and control was designed to enable autonomous cooperative maneuvering with multiple ASVs in a global navigation satellite system (GNSS)-denied environment. Furthermore, a cooperative navigation and control approach based on relative geometric information between vehicles was implemented in the framework, which incorporated the capabilities of following a predefined path and maintaining a specific formation based on the relative distance between ASVs. Moreover, to demonstrate the essential maneuvering and functional capabilities of the cooperative navigation and control approach of the developed ASVs, preliminary field tests were conducted in an inland water environment, and the test results are discussed in this paper.
“…r(q v ) ≥ r max (18) where k β denotes the scalar control factor. In addition, r max and r min denote the maximum and minimum distances influenced by the other vehicle, respectively.…”
Section: ) Formation Control Based On the Artificial Potential Field ...mentioning
This paper presents the development and field testing of multiple autonomous surface vehicles (ASVs) for autonomous cooperative navigation tasks in marine environments. The developed ASVs were designed in a catamaran hull form, and various systems related to autonomous functionalities, including the electrical propulsion, wireless communication, and guidance, navigation, and control (GNC) systems, were integrated with the situational awareness sensor system. Because not all of the navigation and situational awareness sensor data can be shared owing to the large network load, the network communication and data protocol structure was designed to enhance the data management efficiency. Furthermore, for cooperative navigation between multiple ASVs, the network communication system was synchronously shared with motion information through a robot operating system (ROS) multi-master system. In particular, an autonomy framework with cooperative navigation and control was designed to enable autonomous cooperative maneuvering with multiple ASVs in a global navigation satellite system (GNSS)-denied environment. Furthermore, a cooperative navigation and control approach based on relative geometric information between vehicles was implemented in the framework, which incorporated the capabilities of following a predefined path and maintaining a specific formation based on the relative distance between ASVs. Moreover, to demonstrate the essential maneuvering and functional capabilities of the cooperative navigation and control approach of the developed ASVs, preliminary field tests were conducted in an inland water environment, and the test results are discussed in this paper.
“…Then, the core of air-ground cooperative control is trajectory tracking control. [7][8][9][10][11][12][13] In Reference 7, a scalable distributed network architecture for UAHs was designed to study the self-organized aggregation control for the large-scale UAHs, in which a large number of UAHs were composed of several interconnected global coverage layers, but lack the communication with ground station. In Reference 8, an air-ground collaborative positioning architecture was presented to address the limitations of single UAH or UGV positioning.…”
Section: Introductionmentioning
confidence: 99%
“…The UGV provides the track reference and supplies for the UAH, which needs communication network to interact with the UGV. Then, the core of air‐ground cooperative control is trajectory tracking control 7–13 . In Reference 7, a scalable distributed network architecture for UAHs was designed to study the self‐organized aggregation control for the large‐scale UAHs, in which a large number of UAHs were composed of several interconnected global coverage layers, but lack the communication with ground station.…”
Section: Introductionmentioning
confidence: 99%
“…In Reference 11, an air‐ground cooperative control scheme for the UAHs and UGVs equipped with multiple cameras was designed to complete the visual tracking tasks. The UAH was used to assist the UGV to achieve accurate positioning 12 and the UGV tracking the UAH steady was performed with visual information 13 . However, since the UAH and the UGV need communication network to transmit the data of position and velocity, these above studies considered the ideal case and ignored some unfavorable factors such as resource limitations, cyber‐attacks, and so on.…”
In this article, by considering the existence of unavailable state, external disturbance, and denial of service (DoS) attacks, an anti‐disturbance trajectory tracking controller is proposed for the air‐ground system composed of unmanned autonomous helicopter (UAH) and unmanned ground vehicle (UGV). Initially, by combining the advantages of conventional event‐triggered scheme (ETS) and memory ETS, a switching‐like event‐triggered mechanism is put forward, which can induce less data transmissions without reducing control performance, and effectively restrain the DoS attacks. Second, by dividing the DoS attacks into active intervals and sleep ones, the concept of acknowledgement character technology (ACK) is presented to define the suitable types of time intervals. Third, a switching‐like dynamic ETS is introduced for the sleep intervals of DoS attacks while the ETS with fixed triggered‐threshold is exploited for the active intervals. Fourth, based on the occurrence of DoS attacks, a switching‐like observer and a normal one are respectively proposed to estimate the UGV state, the UAH state, the reference input of the UGV, and the disturbance of the UAH, which are further utilized to design the tracking controller. Fifth, an augmented closed‐loop system consisting of observation errors and tracking error is established and its stability is analyzed by using Lyapunov stability theory. Then, a sufficient condition on co‐designing the parameters of switching‐like ETS, observers, and tracking controller is presented in terms of linear matrix inequalities (LMI). Finally, the validity and superiority of the proposed control scheme are verified by resorting to simulations and comparisons.
“…In 11 , an air-ground cooperative control scheme for the UAHs and UGVs equipped with multiple cameras was designed to complete some visual tracking tasks. The UAH was used to assist the UGV to achieve accurate positioning 12 and the UGV tracking the UAH steady was performed with visual information 13 . However, since the UAH and the UGV need communication network to transmit the data of position and velocity, these above studies considered the ideal case and ignored some unfavorable factors such as resource limitations, cyber-attacks, and so on.…”
In this paper, by considering the existence of unavailable state,
external disturbance, and denial of service (DoS) attacks, an
anti-disturbance trajectory tracking controller is proposed for the
air-ground system composed of unmanned autonomous helicopter (UAH) and
unmanned ground vehicle (UGV). Initially, by combining the advantages of
conventional event-triggered scheme (ETS) and memory ETS, a
switching-like event-triggered mechanism is put forward, which can cause
less data transmissions without reducing control performance, and
effectively restrain the DoS attacks. Secondly, by dividing the DoS
attacks into active intervals and sleep ones, the concept of
acknowledgement character technology (ACK) is presented to determine the
suitable type of time intervals. Thirdly, the switching-like dynamic ETS
is introduced for the sleep intervals of DoS attacks while the ETS with
fixed triggered-threshold is exploited for the active intervals.
Fourthly, based on the occurrence of the DoS attacks, a switching-like
observer and a normal one are respectively proposed to estimate the UGV
state, the UAH state, the reference input of the UGV, and the
disturbance of the UAH, which are utilized to design the
anti-disturbance tracking controller. Fifthly, an augmented closed-loop
system consisting of observation errors and tracking error is
established and its stability is analyzed by using Lyapunov stability
theory. Then, a sufficient condition on co-designing the parameters of
switching-like ETS, observers, and tracking controller is presented in
terms of linear matrix inequalities (LMI). Finally, the validity and
superiority of the proposed control scheme are verified by resorting to
simulations and comparisons.
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