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

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

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

4 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas1-6
Número de páginas6
ISBN (versión digital)9781538638941
DOI
EstadoPublicada - 4 ene. 2018
Publicado de forma externa
Evento2nd IEEE Ecuador Technical Chapters Meeting, ETCM 2017 - Salinas, Ecuador
Duración: 16 oct. 201720 oct. 2017

Serie de la publicación

Nombre2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017
Volumen2017-January

Conferencia

Conferencia2nd IEEE Ecuador Technical Chapters Meeting, ETCM 2017
País/TerritorioEcuador
CiudadSalinas
Período16/10/1720/10/17

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