Autonomous flight of a quadrocopter group with the use of the virtual leader strategy

In this article we present an algorithm of controlling the quadrocopters swarm and a theory of applying the Kalman filter for the equations of motion of a quadrocopter in mountainous conditions. In our case, in order to coordinate the group, it is necessary to form the spatial programmatic trajector...

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Glavni autori:	Samoilov, F. V., Самойлов, Ф. В., Vinokursky, D. L., Винокурский, Д. Л.
Format:	Статья
Jezik:	English
Izdano:	CEUR-WS 2019
Teme:	Analytical equations Autonomous flight Control laws Spatial motions Velocity vectors Virtual leader Yaw angles Equations of motion
Online pristup:	https://www.scopus.com/record/display.uri?eid=2-s2.0-85075898454&origin=resultslist&sort=plf-f&src=s&st1=Autonomous+flight+of+a+quadrocopter+group+with+the+use+of+the+virtual+leader+strategy&st2=&sid=a05f50191a441063ceb24ebdcfae79ac&sot=b&sdt=b&sl=100&s=TITLE-ABS-KEY%28Autonomous+flight+of+a+quadrocopter+group+with+the+use+of+the+virtual+leader+strategy%29&relpos=0&citeCnt=0&searchTerm= https://dspace.ncfu.ru/handle/20.500.12258/9604
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id	ir-20.500.12258-9604
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spelling	ir-20.500.12258-96042020-02-13T12:29:58Z Autonomous flight of a quadrocopter group with the use of the virtual leader strategy Samoilov, F. V. Самойлов, Ф. В. Vinokursky, D. L. Винокурский, Д. Л. Analytical equations Autonomous flight Control laws Spatial motions Velocity vectors Virtual leader Yaw angles Equations of motion In this article we present an algorithm of controlling the quadrocopters swarm and a theory of applying the Kalman filter for the equations of motion of a quadrocopter in mountainous conditions. In our case, in order to coordinate the group, it is necessary to form the spatial programmatic trajectory of the UAV using the appropriate control law. The concept of coordinated reversal is introduced, which allows to obtain analytical equations of spatial motions expressed through the definition of the velocity vector and the yaw angle. The algorithm was tested in the Gazebo simulator. The results are used for spatial motion of quadrocopter groups 2019-12-19T09:57:15Z 2019-12-19T09:57:15Z 2019 Статья Samoilov, P., Vinokursky, D., Schaerf, M., Mecella, M. Autonomous flight of a quadrocopter group with the use of the virtual leader strategy // CEUR Workshop Proceedings. - 2019. - Volume 2500 https://www.scopus.com/record/display.uri?eid=2-s2.0-85075898454&origin=resultslist&sort=plf-f&src=s&st1=Autonomous+flight+of+a+quadrocopter+group+with+the+use+of+the+virtual+leader+strategy&st2=&sid=a05f50191a441063ceb24ebdcfae79ac&sot=b&sdt=b&sl=100&s=TITLE-ABS-KEY%28Autonomous+flight+of+a+quadrocopter+group+with+the+use+of+the+virtual+leader+strategy%29&relpos=0&citeCnt=0&searchTerm= http://hdl.handle.net/20.500.12258/9604 en CEUR Workshop Proceedings application/pdf CEUR-WS
institution	СКФУ
collection	Репозиторий
language	English
topic	Analytical equations Autonomous flight Control laws Spatial motions Velocity vectors Virtual leader Yaw angles Equations of motion
spellingShingle	Analytical equations Autonomous flight Control laws Spatial motions Velocity vectors Virtual leader Yaw angles Equations of motion Samoilov, F. V. Самойлов, Ф. В. Vinokursky, D. L. Винокурский, Д. Л. Autonomous flight of a quadrocopter group with the use of the virtual leader strategy
description	In this article we present an algorithm of controlling the quadrocopters swarm and a theory of applying the Kalman filter for the equations of motion of a quadrocopter in mountainous conditions. In our case, in order to coordinate the group, it is necessary to form the spatial programmatic trajectory of the UAV using the appropriate control law. The concept of coordinated reversal is introduced, which allows to obtain analytical equations of spatial motions expressed through the definition of the velocity vector and the yaw angle. The algorithm was tested in the Gazebo simulator. The results are used for spatial motion of quadrocopter groups
format	Статья
author	Samoilov, F. V. Самойлов, Ф. В. Vinokursky, D. L. Винокурский, Д. Л.
author_facet	Samoilov, F. V. Самойлов, Ф. В. Vinokursky, D. L. Винокурский, Д. Л.
author_sort	Samoilov, F. V.
title	Autonomous flight of a quadrocopter group with the use of the virtual leader strategy
title_short	Autonomous flight of a quadrocopter group with the use of the virtual leader strategy
title_full	Autonomous flight of a quadrocopter group with the use of the virtual leader strategy
title_fullStr	Autonomous flight of a quadrocopter group with the use of the virtual leader strategy
title_full_unstemmed	Autonomous flight of a quadrocopter group with the use of the virtual leader strategy
title_sort	autonomous flight of a quadrocopter group with the use of the virtual leader strategy
publisher	CEUR-WS
publishDate	2019
url	https://www.scopus.com/record/display.uri?eid=2-s2.0-85075898454&origin=resultslist&sort=plf-f&src=s&st1=Autonomous+flight+of+a+quadrocopter+group+with+the+use+of+the+virtual+leader+strategy&st2=&sid=a05f50191a441063ceb24ebdcfae79ac&sot=b&sdt=b&sl=100&s=TITLE-ABS-KEY%28Autonomous+flight+of+a+quadrocopter+group+with+the+use+of+the+virtual+leader+strategy%29&relpos=0&citeCnt=0&searchTerm= https://dspace.ncfu.ru/handle/20.500.12258/9604
work_keys_str_mv	AT samoilovfv autonomousflightofaquadrocoptergroupwiththeuseofthevirtualleaderstrategy AT samojlovfv autonomousflightofaquadrocoptergroupwiththeuseofthevirtualleaderstrategy AT vinokurskydl autonomousflightofaquadrocoptergroupwiththeuseofthevirtualleaderstrategy AT vinokurskijdl autonomousflightofaquadrocoptergroupwiththeuseofthevirtualleaderstrategy
_version_	1760602154399170560

Autonomous flight of a quadrocopter group with the use of the virtual leader strategy

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