In this work a nonlinear controller capable to guide a leader-follower formation involving a UAV and a UGV in the accomplishment of positioning and trajectory tracking missions is presented. A centralized structure is implemented to share information about the current pose of the vehicles and to determine the relative position between them. The asymptotic stability of the closed-loop system is demonstrated, and experimental results are presented and discussed, validating the controller.


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    Titel :

    Leader-following control of a UAV-UGV formation


    Beteiligte:
    Brandao, A. S. (Autor:in) / Sarcinelli-Filho, M. (Autor:in) / Carelli, R. (Autor:in)


    Erscheinungsdatum :

    01.11.2013


    Format / Umfang :

    2280348 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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