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 language | English |
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Title of host publication | AIAA Scitech 2020 Forum |
Publisher | American Institute of Aeronautics and Astronautics Inc, AIAA |
ISBN (Print) | 9781624105951 |
DOIs | |
Publication status | Published - 2020 |
Event | AIAA Scitech Forum, 2020 - Orlando, United States Duration: 6 Jan 2020 → 10 Jan 2020 |
Publication series
Name | AIAA Scitech 2020 Forum |
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Volume | 1 PartF |
Conference
Conference | AIAA Scitech Forum, 2020 |
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Country/Territory | United States |
City | Orlando |
Period | 6/01/20 → 10/01/20 |
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.
Funders | Funder number |
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ITU Aerospace Research Center | |
Boeing |