Control of air-ground convoy subject to communication time delay
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Universidade Federal de Minas Gerais
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Artigo de periódico
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Membros da banca
Resumo
The problem associated with line formation (convoy) control among a team of aerial and ground vehicles is addressed by considering the fact that the vehicles share information with each other via communication channels that can be corrupted because of time delay. Among other results, we present rules for designing a decentralized control law that provides convoy stability, ensuring null formation error at steady state under the condition of constant speed, for the leader, compensating time-delay effects on the communication flow among the following vehicles. The results have been verified for convoy designs based on “look-ahead” topologies, in which each agent knows only the states of the preceding vehicles in the formation. The effectiveness of the proposed rules is finally illustrated by a simulation experiment involving a team of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), executing a scouting mission.
Abstract
Assunto
Robôs - Sistemas de controle
Palavras-chave
Autonomous convoy, Heterogeneous robots, Time-delay communication, Ground vehicles, Aerial vehicles, Cooperative robotics
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Endereço externo
https://www.sciencedirect.com/science/article/pii/S0045790618319451