Nadour, Housseyne (Gipsa-lab, CNRS), Marchand, Nicolas (Gipsa-lab, CNRS), Reveret, Lionel (INRIA), Legneur, Pierre (University Lyon I)

Formation Tracking of Target Moving on Natural Surfaces

Scheduled for presentation during the Regular Session "Path Planning II" (WeB3), Wednesday, June 16, 2021, 14:00−14:20, Edessa

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 25, 2024

Abstract

In this paper, we focus mainly on formation control of a swarm of UAV’s tracking a moving target on a non regular mountainous surface. The main objective is to show how to dispatch the whole swarm of the quadrotors around the target (climber) with respect to the natural environment (mountain) taking advantage as much as possible from the free space around the climber. The formation shape adapts with the neighbour environment topology, so that it avoids the collision with the environment and the concealing of the target from the UAV’s cameras sights, and ensures as well the formation compactness and its closure to the target respecting the agentagent and the agent-target security distances. The procedure to define the free and safe hovering space (SHS) is then demonstrated with two other procedures to determine for each agent its desired position within the SHS. This work, that is considered as an introduction for upcoming works, does not miss to provide a simple control for each individual agent based on an established and corrected approximate dynamic model. The main idea to resolve this problem is explained in 2D and will be expanded for 3D environment, with other necessary and complementary enhancements.