论文标题
与合作目标跟踪飞艇的观点驱动的形成控制
Viewpoint-driven Formation Control of Airships for Cooperative Target Tracking
论文作者
论文摘要
为了追踪和运动捕获（MOCAP）在其自然栖息地中的动物，非常适合安全且无声的空中平台的形成，例如带有车载摄像机的飞艇。在我们先前的工作中，我们得出了最佳MOCAP的形成特性，其中包括保持观察者W.R.T.之间的恒定角度分离。主题，阈值距离距离，并将其保持在相机视图中。与多旋转器不同，飞艇具有非全面的约束，并受到环境风的影响。它们的方向和飞行方向也紧密耦合。因此，对于假定运动方向和方向独立性的多跨器的控制方案不适用。在本文中，我们首先利用飞艇的空速与其与主题的距离之间的周期性关系来解决这个问题。我们使用它来得出满足最佳MOCAP的地层特性的分析和数字解。基于此，我们开发了一个基于MPC的编队控制器。我们对解决方案，其适用性的边界条件，广泛的仿真实验以及使用无人飞艇进行控制方法的现实世界进行了理论分析。开源代码https://tinyurl.com/asmpccode和我们方法的视频提供在https://tinyurl.com/asmpcvid上。
For tracking and motion capture (MoCap) of animals in their natural habitat, a formation of safe and silent aerial platforms, such as airships with on-board cameras, is well suited. In our prior work we derived formation properties for optimal MoCap, which include maintaining constant angular separation between observers w.r.t. the subject, threshold distance to it and keeping it centered in the camera view. Unlike multi-rotors, airships have non-holonomic constrains and are affected by ambient wind. Their orientation and flight direction are also tightly coupled. Therefore a control scheme for multicopters that assumes independence of motion direction and orientation is not applicable. In this paper, we address this problem by first exploiting a periodic relationship between the airspeed of an airship and its distance to the subject. We use it to derive analytical and numeric solutions that satisfy the formation properties for optimal MoCap. Based on this, we develop an MPC-based formation controller. We perform theoretical analysis of our solution, boundary conditions of its applicability, extensive simulation experiments and a real world demonstration of our control method with an unmanned airship. Open source code https://tinyurl.com/AsMPCCode and a video of our method is provided at https://tinyurl.com/AsMPCVid .
