Dynamic obstacle avoidance based on null-space for quadcopter's formation

Pilar Samaniego; Esteban Vaca; Paulo Leica; Danilo Chavez; Oscar Camacho

doi:10.1109/ETCM.2017.8247532

Dynamic obstacle avoidance based on null-space for quadcopter's formation

Pilar Samaniego
, Esteban Vaca
, Paulo Leica
, Danilo Chavez
, Oscar Camacho

Escuela Politecnica Nacional

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

The aim of this paper consists in the designing, developing and simulation of a dynamic obstacle avoidance controller based on Null-Space. The proposed controller is used for the trajectory tracking of a formation of three quadcopters built from their kinematic model, to evade grounded and aerial mobile obstacles. The Null-Space based controller permits to change the priority of the task to achieve, allowing to define rigid or flexible formation depending on the priority task of the controller. The stability analysis of the control system shows that such a system is stable and simulation results validate the proposed control system.

Original language	English
Title of host publication	2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781538638941
DOIs	https://doi.org/10.1109/ETCM.2017.8247532
State	Published - 4 Jan 2018
Externally published	Yes
Event	2nd IEEE Ecuador Technical Chapters Meeting, ETCM 2017 - Salinas, Ecuador Duration: 16 Oct 2017 → 20 Oct 2017

Publication series

Name	2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017
Volume	2017-January

Conference

Conference	2nd IEEE Ecuador Technical Chapters Meeting, ETCM 2017
Country/Territory	Ecuador
City	Salinas
Period	16/10/17 → 20/10/17

Keywords

Dynamic obstacle avoidance
Null-Space
Quadcopters formation
Reduced order models
Trajectory tracking

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10.1109/ETCM.2017.8247532

Cite this

Samaniego, P., Vaca, E., Leica, P., Chavez, D., & Camacho, O. (2018). Dynamic obstacle avoidance based on null-space for quadcopter's formation. In 2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017 (pp. 1-6). (2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ETCM.2017.8247532

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title = "Dynamic obstacle avoidance based on null-space for quadcopter's formation",

abstract = "The aim of this paper consists in the designing, developing and simulation of a dynamic obstacle avoidance controller based on Null-Space. The proposed controller is used for the trajectory tracking of a formation of three quadcopters built from their kinematic model, to evade grounded and aerial mobile obstacles. The Null-Space based controller permits to change the priority of the task to achieve, allowing to define rigid or flexible formation depending on the priority task of the controller. The stability analysis of the control system shows that such a system is stable and simulation results validate the proposed control system.",

keywords = "Dynamic obstacle avoidance, Null-Space, Quadcopters formation, Reduced order models, Trajectory tracking",

author = "Pilar Samaniego and Esteban Vaca and Paulo Leica and Danilo Chavez and Oscar Camacho",

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year = "2018",

month = jan,

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doi = "10.1109/ETCM.2017.8247532",

language = "Ingl{\'e}s",

series = "2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017",

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Samaniego, P, Vaca, E, Leica, P, Chavez, D & Camacho, O 2018, Dynamic obstacle avoidance based on null-space for quadcopter's formation. in 2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017. 2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017, vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 1-6, 2nd IEEE Ecuador Technical Chapters Meeting, ETCM 2017, Salinas, Ecuador, 16/10/17. https://doi.org/10.1109/ETCM.2017.8247532

Dynamic obstacle avoidance based on null-space for quadcopter's formation. / Samaniego, Pilar; Vaca, Esteban; Leica, Paulo et al.
2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1-6 (2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017; Vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Dynamic obstacle avoidance based on null-space for quadcopter's formation

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AU - Vaca, Esteban

AU - Leica, Paulo

AU - Chavez, Danilo

AU - Camacho, Oscar

PY - 2018/1/4

Y1 - 2018/1/4

N2 - The aim of this paper consists in the designing, developing and simulation of a dynamic obstacle avoidance controller based on Null-Space. The proposed controller is used for the trajectory tracking of a formation of three quadcopters built from their kinematic model, to evade grounded and aerial mobile obstacles. The Null-Space based controller permits to change the priority of the task to achieve, allowing to define rigid or flexible formation depending on the priority task of the controller. The stability analysis of the control system shows that such a system is stable and simulation results validate the proposed control system.

AB - The aim of this paper consists in the designing, developing and simulation of a dynamic obstacle avoidance controller based on Null-Space. The proposed controller is used for the trajectory tracking of a formation of three quadcopters built from their kinematic model, to evade grounded and aerial mobile obstacles. The Null-Space based controller permits to change the priority of the task to achieve, allowing to define rigid or flexible formation depending on the priority task of the controller. The stability analysis of the control system shows that such a system is stable and simulation results validate the proposed control system.

KW - Dynamic obstacle avoidance

KW - Null-Space

KW - Quadcopters formation

KW - Reduced order models

KW - Trajectory tracking

UR - https://www.scopus.com/pages/publications/85045749289

U2 - 10.1109/ETCM.2017.8247532

DO - 10.1109/ETCM.2017.8247532

M3 - Contribución a la conferencia

AN - SCOPUS:85045749289

T3 - 2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017

SP - 1

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BT - 2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd IEEE Ecuador Technical Chapters Meeting, ETCM 2017

Y2 - 16 October 2017 through 20 October 2017

ER -

Dynamic obstacle avoidance based on null-space for quadcopter's formation

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