A team of Unmanned Aerial Vehicles (UAVs) is used for the dynamic encirclement of a moving target in simulation. The encirclement tactic is defined for the situation in which a target is isolated and surrounded by a group of UAVs. It may be employed by a team of UAVs to neutralize the target and restrict its movement. A combination of decentralized Linear Model Predictive Control (LMPC) and Feedback Linearization (FL) is implemented on the team of UAVs in order to accomplish dynamic encirclement around a moving target. The main contribution of this paper lays in the application of LMPC and FL to solve the problem of encirclement of a moving target using an autonomous team of UAVs in simulation.
Encirclement of moving target using linear model predictive control via feedback linearization
01.10.2014
561765 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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