1. Formation tracking of target moving on natural surfaces
- Author
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H. Nadour, Pierre Legreneur, Lionel Reveret, Nicolas Marchand, GIPSA - COntrol, PErception, Robots, navigation and Intelligent Computing (GIPSA-COPERNIC), GIPSA Pôle Sciences des Données (GIPSA-PSD), Grenoble Images Parole Signal Automatique (GIPSA-lab), Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Grenoble Alpes (UGA), Calcul des Variations, Géométrie, Image (CVGI), Laboratoire Jean Kuntzmann (LJK), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Laboratoire Interuniversitaire de Biologie de la Motricité (LIBM ), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Université Jean Monnet - Saint-Étienne (UJM)-Université Savoie Mont Blanc (USMB [Université de Savoie] [Université de Chambéry]), AirCap Regional project funded by French ARA Region, Capture and Analysis of Shapes in Motion (MORPHEO), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Jean Kuntzmann (LJK), and Université de Lyon-Université de Lyon-Université Jean Monnet [Saint-Étienne] (UJM)-Université Savoie Mont Blanc (USMB [Université de Savoie] [Université de Chambéry])
- Subjects
Computer science ,Real-time computing ,3D reconstruction ,Swarm behaviour ,UAVs control ,Solid modeling ,formation control ,Collision ,Tracking (particle physics) ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Sight ,monitoring ,Position (vector) ,[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering ,surveillance ,target track-ing ,Focus (optics) ,target tracking ,film-making - Abstract
International audience; In this paper, we focus mainly on formation control of a swarm of UAV's tracking a moving target on a non regular mountainous surface. The main objective is to show how to dispatch the whole swarm of the quadrotors around the target (climber) with respect to the natural environment (mountain) taking advantage as much as possible from the free space surrounding the climber. The formation shape adapts with the neighbour environment topology, so that it avoids the collision with the environment and the concealing of the target from the UAV's cameras sights, and ensures as well the formation compactness and its closure to the target respecting the agent-agent and the agent-target security distances. The algorithm to define the free and safe hovering space (SHS) is then demonstrated with other two-steps algorithm to determine for each agent its desired position within the SHS. This work, that is considered as an introduction for upcoming works, does not miss to provide a simple control for each individual agent based on an established and corrected approximate dynamic model. The main idea to resolve this problem is explained in 2D and will be expanded for 3D environment, with other necessary and complementary enhancements. Keywords: UAVs control, formation control, target tracking, surveillance, film-making, 3D reconstruction, monitoring, quadrotor modeling.
- Published
- 2021