Coordinated motion of UGVs and a UAV

Ulun, Soner and Ünel, Mustafa (2013) Coordinated motion of UGVs and a UAV. In: 39th Annual Conference of the IEEE Industrial Electronics Society (IECON 2013), Vienna, Austria

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Official URL: http://dx.doi.org/10.1109/IECON.2013.6699789


Coordination of autonomous mobile robots has received significant attention during the last two decades. Coordinated motion of heterogenous robot groups are more appealing due to the fact that unique advantages of different robots might be combined to increase the overall efficiency of the system. In this paper, a heterogeneous robot group composed of multiple Unmanned Ground Vehicles (UGVs) and an Unmanned Aerial Vehicle (UAV) collaborate in order to accomplish a predefined goal. UGVs follow a virtual leader which is defined as the projection of UAV’s position onto the horizontal plane. The UAV broadcasts its position at certain frequency. The position of the virtual leader and distances from the two closest neighbors are used to create linear and angular velocity references for each UGV. Several coordinated tasks have been presented and the results are verified by simulations where certain amount of communication delay between the vehicles is also considered. Results are quite promising.

Item Type:Papers in Conference Proceedings
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
ID Code:22644
Deposited By:Mustafa Ünel
Deposited On:22 Jan 2014 14:34
Last Modified:22 Jan 2014 14:34

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