Experimental Evaluation of Continuum Deformation with a Five Quadrotor Team
Experimental Evaluation of Continuum Deformation with a Five Quadrotor Team
复制标题
DOI：
10.23919/acc.2019.8815266
复制
发表时间：
2018-09
期刊：
影响因子：
--
通讯作者：
Matthew Romano;Prince Kuevor;Derek Lukacs;Owen Marshall;Mia N. Stevens;H. Rastgoftar;J. Cutler;E. Atkins
中科院分区：
文献类型：
--
作者：
Matthew Romano;Prince Kuevor;Derek Lukacs;Owen Marshall;Mia N. Stevens;H. Rastgoftar;J. Cutler;E. Atkins
本文首次对连续变形协同控制进行了实验研究。理论结果扩展到放置一个边界三角形的领导者，追随者系统，使团队包含尽管非平凡的跟踪误差。飞行测试是在M-Air的BeagleBone Blue上进行的，M-Air是一种室外网状飞行设施。运动捕捉和机载惯性测量单元用于状态估计。采用五次样条轨迹和不同的参考速度，在单个车辆测试中表征了位置误差。五个四旋翼的领导者的轨迹生成，和追随者执行连续变形控制律在飞行中。飞行试验成功地证明了连续变形，未来的工作，在表征误差传播从领导者到追随者进行了讨论。
This paper experimentally evaluates continuum deformation cooperative control for the first time. Theoretical results are expanded to place a bounding triangle on the leader-follower system such that the team is contained despite nontrivial tracking error. Flight tests were conducted with custom quadrotors running a modified version of ArduPilot on a BeagleBone Blue in M-Air, an outdoor netted flight facility. Motion capture and an onboard inertial measurement unit were used for state estimation. Position error was characterized in single vehicle tests using quintic spline trajectories and different reference velocities. Five-quadrotor leader trajectories were generated, and followers executed the continuum deformation control law in-flight. Flight tests successfully demonstrated continuum deformation; future work in characterizing error propagation from leaders to followers is discussed.