This paper presents a control scheme via feedback linearization for three-dimensional cooperative path planning of a class of interconnected systems in general, and unmanned aerial vehicles (UAVs) in particular. It is shown that the feedback linearization technique along with a distance varied repulsive profile allows UAVs to converge to the invariant set of a known target location without colliding with other vehicles. Lyapunov stability analysis shows the conditions under which such systems are stable. Also a task assignment algorithm, which is a function of distance between the UAVs and the target, is proposed for dealing with multi-UAV and multi-target scenarios.
Path Planning in Three Dimensional Environment Using Feedback Linearization (Preprint)
2006
9 pages
Report
Keine Angabe
Englisch
Aircraft , Computers, Control & Information Theory , Navigation Systems , Detection & Countermeasures , Human Factors Engineering , Linear systems , Control systems , Planning , Position finding , Flight paths , Collision avoidance , Drones , Feedback , Algorithms , Scenarios , Lyapunov functions , Formation flight , Cooperation , Autonomous navigation , Robots , Three dimensional , Multiple targets , Stability , Symposia , Robotics , Uav(Unmanned aerial vehicles) , Feedback linearization , Multiple uavs , Path planning , Feedback control , Mimo(Multi input multi output) , Feedback linear control , Error dynamics , Single targets , Repulsive force , Stability analysis
All-Aspect Three-Dimensional Guidance Law Based on Feedback Linearization
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