Nonlinear control for collision-free navigation of UAV fleet

A Martinez; Carlos Alberto Lozano Espinoza

doi:10.1007/s42452-019-1606-x

Nonlinear control for collision-free navigation of UAV fleet

A Martinez
, Carlos Alberto Lozano Espinoza

Universidad Javeriana

Research output: Contribution to journal › Article › peer-review

1 Scopus citations

Abstract

This paper presents the development of a cooperation scheme among unmanned aerial vehicle (UAV). Sliding mode control technique is used to guarantee that the set of robots can follow a reference trajectory and, in addition, will guarantee collision-free navigation of these autonomous vehicles. The analytical approach of the control strategy is shown, and the necessary conditions to guarantee the stability and governability of the multi-robot system are derived. The strategy and the derived conditions are tested using simulations, to demonstrate their effectiveness for collision-free navigation of an UAV fleet.

Original language	English
Article number	1577
Number of pages	10
Journal	SN Applied Sciences
Volume	1
Issue number	12
DOIs	https://doi.org/10.1007/s42452-019-1606-x
State	Published - 08 Nov 2019

Keywords

Collision free navigation
Sliding mode control
UAV coordination

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10.1007/s42452-019-1606-x

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title = "Nonlinear control for collision-free navigation of UAV fleet",

abstract = "This paper presents the development of a cooperation scheme among unmanned aerial vehicle (UAV). Sliding mode control technique is used to guarantee that the set of robots can follow a reference trajectory and, in addition, will guarantee collision-free navigation of these autonomous vehicles. The analytical approach of the control strategy is shown, and the necessary conditions to guarantee the stability and governability of the multi-robot system are derived. The strategy and the derived conditions are tested using simulations, to demonstrate their effectiveness for collision-free navigation of an UAV fleet.",

keywords = "Collision free navigation, Sliding mode control, UAV coordination",

author = "A Martinez and Espinoza, \{Carlos Alberto Lozano\}",

note = "Funding Information: The authors are grateful for the support of the Pontificia Universidad Javeriana Cali (Colombia), through the financing of the project Experimental Platform for the Performance Evaluation of Multirobot Systems. Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.",

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N2 - This paper presents the development of a cooperation scheme among unmanned aerial vehicle (UAV). Sliding mode control technique is used to guarantee that the set of robots can follow a reference trajectory and, in addition, will guarantee collision-free navigation of these autonomous vehicles. The analytical approach of the control strategy is shown, and the necessary conditions to guarantee the stability and governability of the multi-robot system are derived. The strategy and the derived conditions are tested using simulations, to demonstrate their effectiveness for collision-free navigation of an UAV fleet.

AB - This paper presents the development of a cooperation scheme among unmanned aerial vehicle (UAV). Sliding mode control technique is used to guarantee that the set of robots can follow a reference trajectory and, in addition, will guarantee collision-free navigation of these autonomous vehicles. The analytical approach of the control strategy is shown, and the necessary conditions to guarantee the stability and governability of the multi-robot system are derived. The strategy and the derived conditions are tested using simulations, to demonstrate their effectiveness for collision-free navigation of an UAV fleet.

KW - Collision free navigation

KW - Sliding mode control

KW - UAV coordination

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ER -

Nonlinear control for collision-free navigation of UAV fleet

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Keywords

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