Wu, YuXuan (Beijing University of Chemical Technology), Wang, Jing (North China University of Technology), Zhou, Meng (North China University of Technology), Dong, Zhe (North China University of Technology), Chen, YangQuan (University of California, Merced)

Air-Ground Cooperative Exploration of 3D Complex Environment with Maximized Visibility and Obstacles Avoidance

Scheduled for presentation during the Regular Session "Technology Challenges" (FrC4), Friday, June 18, 2021, 14:20−14:40, Naoussa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

Unmanned aerial vehicles (UAVs) can provide vision at high altitude. In this paper, multi-UAVs and ground vehicle are utilized to explore a complex environment with obstacles. The desired UAV formation is proposed around ground vehicle to provide wider vision. The Interfered Fluid Dynamical System (IFDS) method is utilized to guide UAVs avoid obstacles, while the desired formation need be maintained. Then formation control scheme of multi-UAVs is updated to combine with IFDS method according to original formation and obstacles avoidance. Simulation results shows that multi-UAVs can avoid obstacles and maintain the desired formation around ground vehicle during exploration.