Singularity Free Quaternion Representation to Control a UGV UAV Formation Trajectory Tracking Tasks

Описание: Singularity-Free Quaternion Representation to Control a UGV-UAV Formation Performing Trajectory-Tracking Tasks

Harrison Neves Marciano; Alexandre Santos Brandño; Mário Sarcinelli-Filho

In 2021 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 656-665). Publication year: 2021

Abstract:

A formation composed by a ground unmanned vehicle (UGV) and an unmanned aerial vehicle (UAV) is considered here. The UAV should land on the UGV, which emulates a static or moving base station for the UAV. In such case, issues related to formation singularities may occur. An example of singularity is the fact that the UAV is not guaranteed to be laterally aligned with the UGV, thus not allowing to precisely get the current state of the formation when starting the landing maneuver. Focusing on this specific situation, this paper proposes a singularity-free representation of the formation, based on quaternions, and a formation controller, based on this formulation, to guide the formation in trajectory-tracking tasks. Besides the theoretical development, the paper also provides results of experiments run using a formation composed by a Pioneer 3-DX UGV and a Bebop 2 UAV, which validate the proposed formulation and controller.

Keywords: Base stations, Quaternions, Focusing, Unmanned aerial vehicles, Task analysis, Aircraft, Aerospace control

Read our manuscript at: DOI: 10.1109/ICUAS51884.2021.9476709

Cite us with following bibtex:

@inproceedings{marciano2021singularity,
title={Singularity-Free Quaternion Representation to Control a UGV-UAV Formation Performing Trajectory-Tracking Tasks},
author={Marciano, Harrison Neves and Brand{\~n}o, Alexandre Santos and Sarcinelli-Filho, M{\'a}rio},
booktitle={2021 International Conference on Unmanned Aircraft Systems (ICUAS)},
pages={656--665},
year={2021},
organization={IEEE}