Moving path following for autonomous robotic vehicles

Oliveira, Tiago; Encarnação, Pedro; Aguiar, A. Pedro

doi:10.23919/ecc.2013.6669459

Cited by 17 publications

(8 citation statements)

References 13 publications

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“…Thus, the disturbance frame F d is defined as the frame where the x d axis is along the swimmer total linear velocity v . In the case of aircraft, this frame is called “the wind frame” referencing to the disturbances related to the wind (Kaminer et al, 2006; Oliveira et al, 2013). The compensation direction angle δ θ d is used to compensate for lateral disturbances.…”

Section: Kinematic Model In the Serret–frenet Frame Of A Helical Smentioning

confidence: 99%

3D closed-loop swimming at low Reynolds numbers

Oulmas

Andreff

Régnier

2018

The International Journal of Robotics Research

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In this paper, the mobility matrix of helical microswimmers is investigated to compute the magnetic torque as a function of the angular velocities of the helical robot to achieve a 3D path following in closed-loop. Thus, the helical swimmer kinematics are expressed in the Serret-Frenet frame considering the weight of the robot and lateral disturbances using the compensation inclination and direction angles, respectively. A new chained formulation is used to design a stable controller. The approach is simple and quite general and can be used for different non-holonomic autonomous systems. The 3D path following is validated by presenting experimental results using a scaled-up helical microswimmer actuated magnetically. Different trajectories were tested: a spatial straight line, a helix trajectory, and an inclined sinusoidal trajectory. Several conditions have been tested experimentally, namely: different velocity profiles, compensation inclination angles, liquid viscosities, control gains and boundary effects, and their impact on the performance of the path following. To illustrate the robustness and accuracy of the visual servo control to disturbances presenting in the environment such as the magnetic field gradient and boundary effects, it is compared with the open-loop control. The results show the robustness of the controller and a submillimetric accuracy during the path following.

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Section: Kinematic Model In the Serret–frenet Frame Of A Helical Smentioning

confidence: 99%

3D closed-loop swimming at low Reynolds numbers

Oulmas

Andreff

Régnier

2018

The International Journal of Robotics Research

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“…The dynamic assignment task assigns a speed profile to the path. In (Oliveira et al, 2013) the path following problem is generalized for the case of moving path following (MPF), in which the path is not stationary but dynamic. The authors evaluates the method for a fixed-wing UAV with hardware-in-the-loop (HiL) simulations.…”

Section: Path Following Motion Controlmentioning

confidence: 99%

Cooperative motion control of a formation of UAVs

Rodrigues

Aguiar

2015

2015 International Conference on Unmanned Aircraft Systems (ICUAS)

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The recent advances in electronics and communication networks have aroused interest in the research community towards cooperative motion control of multiple autonomous robotic vehicles. There are many scenarios where employing a fleet of small, scalable and inexpensive vehicles is more attractive than using a single expensive robot. In the literature the topic is addressed for mobile robots, autonomous underwater vehicles (AUVs), autonomous surface vehicles (ASVs), autonomous aerial vehicles (UAVs) and other robots. Specifically, the formation of UAVs is an asset, as the UAV technology grows stronger in society. In this dissertation we address cooperative motion control problem for UAVs that unravels in two tasks: path-following and coordination control. The former requires the vehicle to converge and follow a desired path with no temporal constraints. The latter coordinates the elements in a fleet to travel on a desired pattern. The strategy adopted for the path following unfolds the problem in a geometric and speed assignment task. The vehicle is permanently following a virtual target point (VTP), which moves on the desired path. Adjusting the speed of the target, synchronization is accomplished. Nonlinear techniques enable to explicitly take into account the nonlinearities inherent to the model. Graph theory describes the inter-vehicle communication topology. In order to validate the adopted strategies, a guidance, navigation and control (GNC) evaluation environment for Flight Variables Management System (FVMS) is developed. The tool, herein developed, may be as well used to evaluate other GNC algorithms in a reliable manner. Numerical simulations and software-in-the-loop (SiL) data evaluate the methods addressed. The results show that the nonlinear Lyapunov based control law proposed correctly solves the path following problem. The performance is comparable to other wellestablished solutions. Moreover, coordination in a switching topology communication is achieved.

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“…The way of computing the tracking errors plays an important role in the guidance process of a UAV. For the problem of either a 2D tracking in a plane or a 3D tracking in the physical space, many valuable researches have been made about the guidance methods of "trajectory tracking" and "path following" [1].…”

Section: Introductionmentioning

confidence: 99%

Some Discussions about the Error Functions on SO(3) and SE(3) for the Guidance of a UAV Using the Screw Algebra Theory

Zhu

Chen

2017

Advances in Mathematical Physics

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In this paper a new error function designed on 3-dimensional special Euclidean group SE(3) is proposed for the guidance of a UAV (Unmanned Aerial Vehicle). In the beginning, a detailed 6-DOF (Degree of Freedom) aircraft model is formulated including 12 nonlinear differential equations. Secondly the definitions of the adjoint representations are presented to establish the relationships of the Lie groups SO(3) and SE(3) and their Lie algebras so(3) and se(3). After that the general situation of the differential equations with matrices belonging to SO(3) and SE(3) is presented. According to these equations the features of the error function on SO(3) are discussed. Then an error function on SE(3) is devised which creates a new way of error functions constructing. In the simulation a trajectory tracking example is given with a target trajectory being a curve of elliptic cylinder helix. The result shows that a better tracking performance is obtained with the new devised error function.

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Moving path following for autonomous robotic vehicles

Cited by 17 publications

References 13 publications

3D closed-loop swimming at low Reynolds numbers

3D closed-loop swimming at low Reynolds numbers

Cooperative motion control of a formation of UAVs

Some Discussions about the Error Functions on SO(3) and SE(3) for the Guidance of a UAV Using the Screw Algebra Theory

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