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Trajectory planning and control for drone replacement for multidrone cinematography
Marta Marques1; Bruno J. Guerreiro2; Rita Cunha1; Carlos Silvestre3
2019-11-25
Conference Name21st International-Federation-of-Automatic-Control (IFAC) Symposium on Automatic Control in Aerospace (ACA)
Source PublicationIFAC-PapersOnLine
Volume52
Issue12
Pages334-339
Conference DateAUG 27-30, 2019
Conference PlaceCranfield, ENGLAND
Abstract

This work addresses the problem of trajectory planning and control for a team of drones, so that a vehicle that is following a target as part of a multi-vehicle formation flight can be safely replaced with minimum impact on the formation objectives. An optimal trajectory generation method is presented, which relies on formulating a nonlinear optimization problem with constraints imposed by the physical limitations of the vehicle, the formation, and the surrounding environment, including nonlinear constraints to enforce inter-vehicle collision avoidance and clear visibility of the target. An online planning and control strategy is also implemented through a Nonlinear Model Predictive Control problem, based on the dynamic model of the system, a quadratic objective function, and a set of constraints, that again include collision avoidance and clear visibility. The proposed algorithms are validated in software-in-the-loop simulations that include the autopilot software.

KeywordControl Formation Flying Guidance And Navigation Uav Dynamics
DOI10.1016/j.ifacol.2019.11.265
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000498881800056
Scopus ID2-s2.0-85077383402
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Affiliation1.Institute for Systems and Robotics (ISR-Lisbon),LARSYS,Instituto Superior Técnico,Lisbon,1049-001,Portugal
2.ISR-Lisbon,Dep. of Electrical and Computer Eng,CTSUninova,Universidade Nova de Lisboa,Caparica,2829-516,Portugal
3.Dep. of Electrical and Computer Eng., Faculty of Science and Technology, University of Macau, China, and also on leave from Instituto Superior Tecnico, Universidade de Lisboa, Lisbon, Portugal
Recommended Citation
GB/T 7714
Marta Marques,Bruno J. Guerreiro,Rita Cunha,et al. Trajectory planning and control for drone replacement for multidrone cinematography[C],2019:334-339.
APA Marta Marques,Bruno J. Guerreiro,Rita Cunha,&Carlos Silvestre.(2019).Trajectory planning and control for drone replacement for multidrone cinematography.IFAC-PapersOnLine,52(12),334-339.
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