Convergência e circulação de curvas variantes no tempo com um conjunto de quadrotores
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Universidade Federal de Minas Gerais
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This work presents a strategy based on vector fields to guide a group of aerial robots
in order to converge and circulate a closed and time-varying curve in the three-dimensional
space. A set of modulation functions, that prevents collisions between robots by setting priorities,
acts on controllers based on artificial vector fields, considering a decentralized architecture. In
addition, it is proposed an extension of the backstepping controller with integral action for the
low level control of each quadrotor. This extension, based on the Lyapunov Redesign technique,
makes the system robust for bounded disturbances. Simulation results show the effectiveness of
the strategy adopted.
Abstract
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Robótica, Sistemas lineares
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vector fields; backstepping; aerial robots; collision avoidance; multi-robot systems
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https://proceedings.science/sbai-2019/trabalhos/convergencia-e-circulacao-de-curvas-variantes-no-tempo-com-um-conjunto-de-quadro?lang=pt-br