Trajectory-based agile multi uav coordination through time synchronisation

Omar Shadeed, Halise Turkmen, Emre Koyuncu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Citations (Scopus)

Abstract

In this work, we propose a multi-UAV coordination methodology with trajectory synchronization between the coordination, planning, and control layers. We use probabilistic trajectory mappings (PTM) to find collision-free trajectories through the obstacles. For trajectory tracking, we apply the differential flatness modeling, allowing us to directly map the desired output trajectory, which is parameterized with cubic B-Spline, into the required input sequence. The local support property of B-Splines enables to re-plan of the trajectories without deteriorating entire the shape of the path and the continuity over it. Through this fashion, the trajectory tracking controller generates a required input sequence for given velocity references over the B-Spline sequences, which can be performed by the vehicle. The coordination between the multi-UAV is provided through time synchronization between the trajectories, which are parameterized with B-Splines knot scales and their projected derivatives. We performed experiments in a realistic environment under a motion capture system with multiple nano-size aerial vehicles. The results are given to show the success of the presented methodology for challenging problems such as passing through a small virtual circle in the air for given time sequences.

Original languageEnglish
Title of host publicationAIAA Scitech 2020 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105951
DOIs
Publication statusPublished - 2020
EventAIAA Scitech Forum, 2020 - Orlando, United States
Duration: 6 Jan 202010 Jan 2020

Publication series

NameAIAA Scitech 2020 Forum
Volume1 PartF

Conference

ConferenceAIAA Scitech Forum, 2020
Country/TerritoryUnited States
CityOrlando
Period6/01/2010/01/20

Bibliographical note

Publisher Copyright:
© 2020, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

Funding

Omar Shadeed is supported in part by Boeing Student Fellowship administered by ITU Aerospace Research Center. The authors would like to thank Mustafa Demir for their valuable support during establishing experimental setups.

FundersFunder number
ITU Aerospace Research Center
Boeing

    Fingerprint

    Dive into the research topics of 'Trajectory-based agile multi uav coordination through time synchronisation'. Together they form a unique fingerprint.

    Cite this