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Underactuated Waypoint Tracking of a Fixed-Wing UAV
(Journal article; Peer reviewed; Tidsskriftartikkel, 2013)
In this paper a new method of performing waypoint tracking is shown for underactuated fixed-wing UAVs. The position error can be mapped onto the desired axis using a desired rotation matrix, while the velocity error can be mapped to the desired axis using a desired angular velocity. With all errors defined along one axis, the tracking problem is easily solved using only one thruster. A velocity ...
Underactuated Control of Quadrotors with Collision Avoidance
(Journal article; Peer reviewed; Tidsskriftartikkel, 2013)
In this paper a saturated controller is derived that solves the translational control problem for underactuated quadrotors. The controller is applied to multiple quadrotors during a formation reconfiguration where the quadrotors move from an initial position to a desired position. The null-space-based behavioral control method is a popular method for avoiding collisions between mobile agents, and ...
Real-Time Particle Tracking using a Formation of UAVs
(Journal article; Peer reviewed; Tidsskriftartikkel, 2013)
In this paper the problem of real-time particle tracking is studied. Using sensor measurements, a formation of UAVs autonomously find the closest point with high particle density where they enter a holding pattern. After converging to the holding pattern, one UAV will remain, while the rest will go looking for other maxima. To avoid collisions between the UAVs during the mission, a controller is ...