Control Law of Target Tracking for Multiple Autonomous UAVs Using Virtual Forces

The classical pursuit-evasion scenario (target tracking) is studied with an interesting perspective. A homicidal chauffeur (pursuer) tries to capture an evader on a 2-dimensional platform (a parking lot). It utilizes a certain feedback control law, which enables the capture. If, however, a time delay is introduced for the sensory perception of the pursuer the performance of the pursuer can show dramatic changes. It may or may not capture its victim depending on this very critical parameter, the sensory time delay. The unique perspective is introduced at this feature.

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PID-based target tracking control of a tractor-trailer mobile robot

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406219830438 ◽

2019 ◽

Vol 233 (13) ◽

pp. 4776-4787 ◽

Cited By ~ 8

Author(s):

Ali Keymasi Khalaji

Keyword(s):

Mobile Robot ◽

Target Tracking ◽

Real Time ◽

Tracking Control ◽

Theoretical Models ◽

Control Law ◽

Kinetic Control ◽

Wheeled Robot ◽

Experimental Testbed ◽

Computed Torque

The tractor-trailer wheeled robot is an articulated nonholonomic vehicle. This paper presents a novel PID-based tracking control law for the tractor-trailer wheeled robot. Theoretical anticipations do not always match the behavior of real systems. This is as a result of the existence of various uncertainties and disturbances. Consequently, controllers that are less dependent on systems' theoretical models are more desirable that is aimed at this research. Therefore, a PID-based kinematic controller is proposed as a non-model based controller to navigate the tractor-trailer wheeled robot follows desired trajectories. Subsequently, a computed torque dynamic controller is investigated to produce kinetic control inputs. The proposed method is implemented on a real-time experimental testbed and obtained results are discussed. These results present the merits of the proposed algorithm.

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Collaborative multiple micro air vehicles’ localization and target tracking in GPS-denied environment from range–velocity measurements

International Journal of Micro Air Vehicles ◽

10.1177/1756829317745317 ◽

2018 ◽

Vol 10 (2) ◽

pp. 225-239 ◽

Cited By ~ 3

Author(s):

Ioannis Sarras ◽

Julien Marzat ◽

Sylvain Bertrand ◽

Hélène Piet-Lahanier

Keyword(s):

Target Tracking ◽

Micro Air Vehicles ◽

Absolute Velocity ◽

Control Law ◽

Time Varying ◽

Velocity Measurements ◽

Nonlinear Observers ◽

External Reference ◽

Simulation Scenario ◽

Air Vehicles

We treat the problem of simultaneous collaborative multiple micro air vehicles’ localization and target tracking using time-varying range and (relative and absolute) velocity measurements. The proposed solution combines robustly local nonlinear observers that estimate the relative positions between agents and their neighbors, and cooperative filters that fuse each agent’s local estimates to globally localize them with respect to the target (and therefore to each other). These estimates are then introduced in a dynamic consensus-type control law that ensures the global collective target tracking while simultaneously estimating the target’s velocity, without needing any external reference which makes it applicable in GPS-denied environments. Finally, a simulation scenario is studied in order to show the efficiency of the proposed solution.

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