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A leader-following trajectory generator with application to quadrotor formation flight
Roldão V.1,2; Cunha R.1,2; Cabecinhas D.1,2,3; Silvestre C.1,2,3; Oliveira P.1,2
2014
Source PublicationRobotics and Autonomous Systems
ISSN9218890
Volume62Issue:10Pages:1597
Abstract

This paper presents a strategy for real-time generation of formation trajectories using a leader-follower approach. A trajectory generator prescribes the motion of a group of virtual vehicles, using a Lyapunov-based nonlinear controller that stabilizes the position of the leader in the reference frame of the virtual vehicles at a predefined distance vector. This strategy differs from the standard approach of defining the desired distance vector in an inertial frame and can be used to obtain rich formation trajectories with varying curvatures between vehicles. By imposing adequate constraints on the motion of the virtual vehicles, the generation of valid formation trajectories is naturally guaranteed, bypassing the demanding task of obtaining complete path descriptions. The trajectories are generated online and provided to a trajectory tracking controller specifically designed for quadrotor vehicles. Simulation and experimental flight tests are presented to evaluate the performance of the solution proposed, applied to formation control of quadrotors. © 2014 Elsevier B.V. All rights reserved.

KeywordAutonomous Vehicles Formation Flight Leader-follower Lyapunov Methods Nonlinear Control Quadrotors Trajectory Generation
DOI10.1016/j.robot.2014.05.002
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Robotics ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence
WOS IDWOS:000341464300020
The Source to ArticleScopus
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被引频次[WOS]:29   [WOS记录]     [WOS相关记录]
Document TypeJournal article
专题DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Univ Lisbon, Dept Elect Engn & Comp Sci, P-1046001 Lisbon, Portugal
2.Univ Lisbon, Inst Super Tecn, Inst Syst & Robot, P-1046001 Lisbon, Portugal
3.Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Taipa, Macau, Peoples R China
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Roldão V.,Cunha R.,Cabecinhas D.,et al. A leader-following trajectory generator with application to quadrotor formation flight[J]. Robotics and Autonomous Systems,2014,62(10):1597.
APA Roldão V.,Cunha R.,Cabecinhas D.,Silvestre C.,&Oliveira P..(2014).A leader-following trajectory generator with application to quadrotor formation flight.Robotics and Autonomous Systems,62(10),1597.
MLA Roldão V.,et al."A leader-following trajectory generator with application to quadrotor formation flight".Robotics and Autonomous Systems 62.10(2014):1597.
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