Distributed Quadrotor UAV Tracking using a Team of Unmanned Ground Vehicles

Omotuyi, Oyindamola; Pokhrel, Sameer; Sharma, Rajnikant

doi:10.2514/6.2021-0266

Cited by 1 publication

(1 citation statement)

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“…Its implementation bolsters the system coordination and resilience, allowing for adept navigation in intricate environments and expanded utility across diverse applications. In [33], a distributed information filter algorithm is developed for each UGV to locally estimate the position and velocity of the quadrotor using its information and information from neighboring UGVs. Despite the pioneering advantages, the aforementioned research overlooks the integration of localization and control in unmanned vehicles.…”

Section: Introductionmentioning

confidence: 99%

Distributed Localization for UAV–UGV Cooperative Systems Using Information Consensus Filter

Ou,

Liu,

Niu

2024

Drones

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In the evolving landscape of autonomous systems, the integration of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has emerged as a promising solution for improving the localization accuracy and operational efficiency for diverse applications. This study introduces an Information Consensus Filter (ICF)-based decentralized control system for UAVs, incorporating the Control Barrier Function–Control Lyapunov Function (CBF–CLF) strategy aimed at enhancing operational safety and efficiency. At the core of our approach lies an ICF-based decentralized control algorithm that allows UAVs to autonomously adjust their flight controls in real time based on inter-UAV communication. This facilitates cohesive movement operation, significantly improving the system resilience and adaptability. Meanwhile, the UAV is equipped with a visual recognition system designed for tracking and locating the UGV. According to the experiments proposed in the paper, the precision of this visual recognition system correlates significantly with the operational distance. The proposed CBF–CLF strategy dynamically adjusts the control inputs to maintain safe distances between the UAV and UGV, thereby enhancing the accuracy of the visual system. The effectiveness and robustness of the proposed system are demonstrated through extensive simulations and experiments, highlighting its potential for widespread application in UAV operational domains.

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Section: Introductionmentioning

confidence: 99%