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Article Dans Une Revue Drones Année : 2022

Reference Generator for a System of Multiple Tethered Unmanned Aerial Vehicles

Résumé

This paper deals with the references generation for a team of unmanned aerial vehicles tethered to a ground station for inspection applications. In order to deploy the team of vehicles in a suitable location to cover the largest area, each vehicle is commanded to securely navigate in an area of interest while it is tethered to another vehicle or to a ground station. To generate the corresponding reference for each vehicle, we used a model predictive controller, which optimizes the desired trajectory based on the mission-defined constraints. To validate the effectiveness of the proposed strategy, we conducted a simulation and experimental tests with a team of consumer unmanned aerial vehicles tethered to a ground station.
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Dates et versions

hal-03955104 , version 1 (24-01-2023)

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Carlos G Valerio, Néstor Aguillón, Eduardo S Espinoza, Rogelio Lozano. Reference Generator for a System of Multiple Tethered Unmanned Aerial Vehicles. Drones, 2022, 6 (12), pp.390. ⟨10.3390/drones6120390⟩. ⟨hal-03955104⟩
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