多机器人系统中基于Leader-Follower控制范式的包裹递送

Emanuele dos Santos Cardoso, Vinícius Pacheco Bacheti, M. Sarcinelli-Filho
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引用次数: 0

摘要

本文提出采用leader-follower控制范式作为控制四旋翼无人机(UAV)完成包裹递送任务的支持。无人机从地面车辆起飞,这里以独轮车机器人为代表的无人地面车辆(UGV)到达交付点,在交付点上方盘旋一段时间,然后返回到地面车辆的当前位置并降落在其上,从而完成交付任务。在配送任务的第一步,为了到达配送点,配送无人机将配送点视为编队leader,并与其组成适合配送流程的leader-follower编队。之后,配送无人机与地面车辆建立leader-follower队形,适合其降落在地面车辆上。这两种领导者-追随者形态的主要区别在于,在第一种情况下,领导者是一个静态的平台,而在第二种情况下,领导者是一个移动的平台。最后给出了实验室规模的实际实验结果,验证了所采用的策略。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Package Delivery Based on the Leader-Follower Control Paradigm for Multirobot Systems
This paper proposes the adoption of the leader-follower control paradigm as the support to control an unmanned aerial vehicle (UAV), in this case a quadrotor, in the accomplishment of a package-delivery task. The UAV takes-off from a ground vehicle, here an unmanned ground vehicle (UGV) represented by a unicycle robot, goes to the delivery point, over which it stays hovering for a while, and then goes back to the current position of the ground vehicle and lands on it, thus completing the delivery task. In the first step of the delivery task, to go to the delivery point, the delivery drone considers the delivery point as the formation leader, and composes a leader-follower formation with it, suitable to the delivery procedure. After, the delivery drone establishes a leader-follower formation with the ground vehicle, suitable to allow it to land on the ground vehicle. The main difference between these two leader-follower formations is that in the first case the leader is a static one, whereas in the second case the leader is a moving platform. Results of a real experiment, in lab scale, are also shown, which validate the adopted strategy.
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