Formation control of UGVs using an UAV as remote vision sensor

Autonomous vehicles; Closed-loop control; Computer vision; Flight control; Autonomous Vehicles; Control schemes; Formation control; Internal controls; Leader-follower formation controls; Remote sensors; Control and Systems Engineering

Abstract :

[en] A leader-follower formation control scheme based on SRV-1 UGVs and an AR. DRONE 2.0 UAV as remote vision sensor is presented in this paper. The main advantage of the proposed strategy lies on the flexibility obtained from a flight remote sensor, as it makes possible to locate the agents at larger distances between them or to extend more easily the number of agents in the formation. A full description of the internal control designed for the UGVs and the UAV is presented, including the image processing procedure implemented to robustly measure the pose of the vehicles in the formation. Finally, experimental results using a triangular formation of three ground robots illustrates the effectiveness of the proposed control scheme.

Disciplines :

Electrical & electronics engineering

Author, co-author :

Hernandez Naranjo, Jairo Andres ; Université de Liège - ULiège > Aérospatiale et Mécanique (A&M)

Copot, Cosmin

Cerquera, Juan

Murcia, Harold

De Keyser, Robin

Language :

English

Title :

Formation control of UGVs using an UAV as remote vision sensor

Publication date :

2014

Event name :

19th World Congress of the International Federation of Automatic Control (IFAC 2014)

Event date :

24-08-2014 => 29-08-2014

By request :

Yes

Audience :

International

Main work title :

19th IFAC World Congress IFAC 2014, Proceedings

Editor :

Boje, Edward

Publisher :

IFAC Secretariat

ISBN/EAN :

978-3-902823-62-5

Peer review/Selection committee :

Peer reviewed

Available on ORBi :

since 30 September 2025

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Bibliography

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