Franco-Robles, Jesus (XLIM Research Institute, University of Limoges), Escareno Castro, Juan Antonio (XLIM Research Institute, University of Limoges), Soto-Guerrero, Daniel (XLIM Research Institute, University of Limoges), Labbani-Igbida, Ouiddad (XLIM Research Institute, University of Limoges)

Feedforward Formation Control Based on Self-Organized Body-Schema

Scheduled for presentation during the Regular Session "Estimation and Bio-inspired" (FrC1), Friday, June 18, 2021, 14:40−15:00, Macedonia Hall

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 18, 2024

Abstract

In this paper we propose a new architecture of the self-organized body schema (SO-BoS) system capable of learning the configuration space of three rotorcrafts relative to a single sensor space. The SO-BoS cortical map architecture represents the posterior parietal cortex where sensory-motor of the human posture is synthesized (circular-reaction); we inspired on such process to control the displacement in formation of three rotorcraft UAVs. The SO-BoS-based feedforward control drives the aerial robots formation towards the desired position while avoiding obstacles and inter-agent collisions. The proposed strategy is a promising approach for aerial vehicles systems due to the plasticity resulting from the learning-babbling stage. A numerical result section is given to provide the inherent discussions to assess the effectiveness of the proposed intelligent navigation scheme.