TY - JOUR
T1 - Nonlinear control for collision-free navigation of UAV fleet
AU - Martinez, A
AU - Espinoza, Carlos Alberto Lozano
N1 - 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:
© 2019, Springer Nature Switzerland AG.
PY - 2019/11/8
Y1 - 2019/11/8
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
UR - http://www.scopus.com/inward/record.url?scp=85100740617&partnerID=8YFLogxK
UR - https://link.springer.com/article/10.1007/s42452-019-1606-x
U2 - 10.1007/s42452-019-1606-x
DO - 10.1007/s42452-019-1606-x
M3 - Article
AN - SCOPUS:85100740617
SN - 2523-3971
VL - 1
JO - SN Applied Sciences
JF - SN Applied Sciences
IS - 12
M1 - 1577
ER -