Formation control of ground multi-agent system using quadcopter with camera
SL Zenkevich, AV Nazarova, J Huo - Robotics: Industry 4.0 Issues & New …, 2020 - Springer
SL Zenkevich, AV Nazarova, J Huo
Robotics: Industry 4.0 Issues & New Intelligent Control Paradigms, 2020•SpringerThe paper is dedicated to discussing a method for ground multi-agent formation control in
different obstacle environments. Use the data from the quadcopter vision system and the
lidar sensor of the ground agent to create a global map. Then, we perform coordinate
estimation of the ground agent by using the terrestrial agent's odometer, GPS, and
quadcopter vision system. Finally, we use the finite state machine theory to control the
switching of ground multi-agent formation, and propose a strategy to avoid ground multi …
different obstacle environments. Use the data from the quadcopter vision system and the
lidar sensor of the ground agent to create a global map. Then, we perform coordinate
estimation of the ground agent by using the terrestrial agent's odometer, GPS, and
quadcopter vision system. Finally, we use the finite state machine theory to control the
switching of ground multi-agent formation, and propose a strategy to avoid ground multi …
Abstract
The paper is dedicated to discussing a method for ground multi-agent formation control in different obstacle environments. Use the data from the quadcopter vision system and the lidar sensor of the ground agent to create a global map. Then, we perform coordinate estimation of the ground agent by using the terrestrial agent’s odometer, GPS, and quadcopter vision system. Finally, we use the finite state machine theory to control the switching of ground multi-agent formation, and propose a strategy to avoid ground multi-agent collisions when the formation is switched. The effectiveness of this strategy is demonstrated through simulation experiments.
Springer
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