Name
Title | ||
|---|---|---|
Using multiple Quadrotor aircraft and Linear Model Predictive Control for the encirclement of a target |
Abstract | ||
|---|---|---|
A Multi-Unmanned Aerial Vehicle (UAV) team formed from two or more UAVs is used in the encirclement of a target. Encirclement is defined as the situation in which a target is isolated and surrounded by a UAV team in order to maintain awareness and containment of that target. In this paper, the problem of maintaining a circular path around a target is considered and a Linear Model Predictive Control (LMPC) strategy is implemented on a team of Qball-X4 quadrotor aircraft in order to follow the circular path. The linear plant controlled by the LMPC is a combination of process models found through system identification and a linear cartesian to polar transformation. A collision avoidance system, based on potential fields, is successfully implemented between the Qball-X4 quadrotors. The contribution of this paper lay in the application of LMPC to the problem of encirclement using a team of Qball-X4 quadrotors and the ability of these UAVs to apply a collision avoidance policy. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/SysCon.2013.6549947 | SysCon |
Keywords | Field | DocType |
aircraft control,autonomous aerial vehicles,collision avoidance,linear systems,predictive control,target tracking,lmpc strategy,qball-x4 quadrotor aircraft,uav team,collision avoidance system,linear cartesian,linear model predictive control,linear plant,multiunmanned aerial vehicle,polar transformation,process model,system identification,target circular path,target encirclement,unmanned aerial vehicles,real time systems,angular velocity,mathematical model | Linear system,Encirclement,Control theory,Linear model,Model predictive control,Control engineering,Collision,Collision avoidance system,Engineering,System identification,Cartesian coordinate system | Conference |
ISSN | ISBN | Citations |
1944-7620 | 978-1-4673-3107-4 | 6 |
PageRank | References | Authors |
0.53 | 10 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mahmoud Z. Iskandarani | 1 | 6 | 2.22 |
| Ahmed T. Hafez | 2 | 30 | 4.47 |
| Givigi, S.N. | 3 | 60 | 9.55 |
| Alain Beaulieu | 4 | 40 | 7.78 |
| Camille A. Rabbath | 5 | 142 | 13.60 |