We propose a novel vector field based guidance scheme that makes an aerial agent monitor a convoy of targets moving along a possibly non-linear trajectory on the ground. The scheme first computes a time varying ellipse that encompasses all the targets in the convoy using a simple regression based algorithm. It then ensures convergence of the aerial agent to a trajectory that repeatedly traverses this moving ellipse. The correct tracking behaviour of the scheme is rigorously established along with error bounds, based on the perturbation theory of ordinary differential equations. It is supported by MATLAB simulations and experiments using the AR.Drone 2.0 as the aerial agent and Firebird V robots as the ground convoy in a Vicon motion capture environment.

For more details refer:

A. V. Borkar, V. S. Borkar and A. Sinha, "Vector Field Guidance for Convoy Monitoring Using Elliptical Orbits", 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, December 2017, Pages 918-924.
[ Ссылка ]


A. V. Borkar, V. S. Borkar and A. Sinha, "Aerial monitoring of slow moving convoys using elliptical orbits", European Journal of Control, Vol. 46, March 2019, pp. 90-102.
[ Ссылка ]

свернуть