This paper addresses the problem of relating the motion of a fixed-wing unmanned aerial vehicle (UAV) with a less constrained agent (LCA) whose motion pattern is comparable to unmanned ground vehicles (UGVs). The main challenge of the scenario is different velocity constraints for UAV and the LCA. To rise to the challenge, for fixed-wing UAV a novel moving center trajectory is proposed whose center is determined by the LCA. Moreover, the sufficient conditions on the proposed trajectory for fulfillment of UAV constraints are derived. In the next step, ambient disturbances like wind gust are considered for UAV heading rate computation which are mitigated by employment of the well known sliding mode controller. Simulation results validate the performance of the proposed approach.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    UAV–UGVs cooperation: With a moving center based trajectory


    Beteiligte:
    Aghaeeyan, A. (Autor:in) / Abdollahi, F. (Autor:in) / Talebi, H.A. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2015


    Format / Umfang :

    9 Seiten, 34 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Q-Learning-Based Multi-step Model Predictive Control (QM-MPC) for UGVs Trajectory Tracking

    Wang, Yuelong / Wang, Songyan / Chao, Tao | Springer Verlag | 2025


    Optimal positioning of surveillance UGVs

    Nilsson, U. / Ogren, P. / Thunberg, J. | Tema Archiv | 2008


    Trajectory Planning for UGVs in an Environment with "Hard" and "Soft" Obstacles

    Yang, Jian / Qu, Zhihua / Martin, Jeffery et al. | AIAA | 2006


    Trajectory Planning for Formation Variation of UGVs in Cluttered Environment

    Cheng, Jie / Chen, Ruishuang / Liang, Zhihui et al. | IEEE | 2023


    Control of multiple UGVs

    Spofford, John R. / Munkeby, Steve H. | SPIE | 1996