TY - GEN
T1 - Relative Position Control in 3D Space of Cooperating Multirotor UAVs Using Modular Relative Jacobian
AU - Jamisola, Rodrigo S.
AU - Ramalepa, Larona P.
AU - Thebe, Keletso Z.
AU - Mbedzi, Olebogeng
N1 - Funding Information:
ACKNOWLEDGMENT The authors would like to acknowledge the funding support on this work from the Botswana International University of Science and Technology (BIUST) UAVs Project number P00015. The authors would also like to acknowledge Mr. Thato Elijah for assisting with constructive suggestions during simulations and programming.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/6/11
Y1 - 2021/6/11
N2 - This paper implements a new approach of controlling cooperative unmanned aerial vehicles (UAVs) using relative Jacobian. A new Jacobian-based formulation in controlling UAVs is shown, such that they become components of the modular relative Jacobian that is used to coordinate the motion between two UAVs. This new approach affords a holistic control on the two UAVs that is based on the relative motion of one UAV with respect to the other. In this way the two UAVs are now controlled as a single manipulator with an end-effector and posture control. Thus, any control strategy of a single manipulator can now be applied to the control of the two UAVs. Simulations in Gazebo RotorS shows the relative position control between the two UAVs as well as the posture control of the reference UAV.
AB - This paper implements a new approach of controlling cooperative unmanned aerial vehicles (UAVs) using relative Jacobian. A new Jacobian-based formulation in controlling UAVs is shown, such that they become components of the modular relative Jacobian that is used to coordinate the motion between two UAVs. This new approach affords a holistic control on the two UAVs that is based on the relative motion of one UAV with respect to the other. In this way the two UAVs are now controlled as a single manipulator with an end-effector and posture control. Thus, any control strategy of a single manipulator can now be applied to the control of the two UAVs. Simulations in Gazebo RotorS shows the relative position control between the two UAVs as well as the posture control of the reference UAV.
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U2 - 10.1109/ICRAS52289.2021.9476522
DO - 10.1109/ICRAS52289.2021.9476522
M3 - Conference contribution
AN - SCOPUS:85114212013
T3 - 2021 5th International Conference on Robotics and Automation Sciences, ICRAS 2021
SP - 99
EP - 105
BT - 2021 5th International Conference on Robotics and Automation Sciences, ICRAS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Robotics and Automation Sciences, ICRAS 2021
Y2 - 11 June 2021 through 13 June 2021
ER -